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101	101	| |(% colspan="2" rowspan="1" %)(((
102	102	== Gripper Controls ==
103	103	)))
104		-| |(% style="text-align:center; vertical-align:middle" %) |
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138		-
139		-|(% colspan="2" %)(((
140		-= User Guide =
141		-)))
142		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
143		-Before proceeding with the guide, it is important to note the following:
144		-
145		-* Neither the servos nor the arm are meant to be operated in proximity of humans as they do not have "collaborative" (COBOT) features and do not detect collision
146		-* The servos use stepper motors and do NOT include mechanical brakes. If the stepper motor is unable to retain or move to a desired angle (insufficient torque), the motor will rotate freely as opposed to hold the last position
147		-
148		-Pressing the i "Information" icon in the software will bring you to this page.
149		-
150		-[[image:ses-pro-robotic-arm-ui-info.png]]
151		-)))
152		-|(% colspan="2" %)(((
153		-== IMPORTANT ==
154		-)))
155		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
156		-=== Payload Considerations ===
157		-
158		-1. The rated payload for each arm does NOT include an end effector, nor any added distance between the center of mass of the payload and the output of the final joint. Each of the two compatible Lynxmotion PRO grippers reduce the maximum payload of each arm, and it is up to the user to known and understand the concept of "torque" and center of mass before adding an end effector and payload.
159		-1. The rated maximum payload for each arm (at full reach) is at the rated speed for each motor. Moving any joint at a higher speed will decrease the payload capacity of the robot.
160		-1. Although each servo can provide significantly more torque than is needed for the rated payload (and therefore means the arm can support much higher loads at lower speeds, the mechanical and modular structure of the arms may fail. We strongly suggest testing and using each arm in a highly controlled and safe setting where, if a failure should occur with one or more joints, that nothing will break should the arm fall.
161		-1. The stepper motors provide the highest torque at low speeds, and lower torque at high speeds. Note that the maxium torque is not at the lowest speed as the torque to rpm curve for each servo resembles a "mountain".
162		-)))
163		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
164		-=== Emergency ===
165		-
166		-Before using the arm, it is important that a user know what to do when an issue or emergency arises where the arm must be stopped quickly. The following emergency options are available based on severity:
167		-
168		-**Halt (and hold)**
169		-
170		-**[[image:ses-pro-robotic-arm-ui-halt.png]]**
171		-
172		-This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
173		-
174		-**Limp**
175		-
176		-**[[image:ses-pro-robotic-arm-ui-limp.png]]**
177		-
178		-All joints will go limp which mean there will be nothing avoiding them to turn freely (potentially causing the arm to fall). The high gear ratio of the strain wave gearing does mean there is some (low) level of resistant to rotation, but the gears and motor are nto "locked" and as such, the arm may fall. The corresponding command is #254L<cr>.
179		-
180		-**Software E-Stop**
181		-
182		-**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
183		-
184		-The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
185		-
186		-**Power Supply E-Stop**
187		-A hardware E-stop (push to cut power) button is located on the power supply which will cut electricity to all actuators. Similar to a limp command, this can possibly cause the arm to fall. To reset this button, rotate the red "mushroom" in the direction indicated by the white arrows and it will spring out.
188		-)))
189		-|(% colspan="2" %)(((
190		-== Arm Connection ==
191		-)))
192		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
	104	+| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
193	193	**Model**
194	194
195		-**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
196		-
197		-The software currently supports the following Lynxmotion PRO Arms:
198		-
199		-* 550mm 5DoF
200		-* 550mm 6DoF
201		-* 900mm 5DoF
202		-* 900mm 6DoF
203		-
204		-In practice, each 5DoF arm has joint 4 at a fixed angle, otherwise the arms are identical to the 6DoF. Users can always purchase the missing actuator to upgrade to a 6DoF.
205		-
206		-**COM Port**
207		-
208		-**[[image:ses-pro-robotic-arm-ui-com.png]]**
209		-
210		-The first joint at the base (J1) must be connected via USB to a computer running the sofware. No other joints should have a USB connection. A USB 3.0 port or higher on the computer is suggested, as the lower communication speeds fo USB 2.0 or 1.0 may impede communication and cause unecessary delay or issues.
211		-
212		-**Connect / Disconnect**
213		-
214		-[[image:ses-pro-robotic-arm-ui-connect.png]]
215		-
216		-[[image:ses-pro-robotic-arm-ui-disconnect.png]]
217		-
218		-Once the COM port has been selection, the CONNECT button can be pressed, and once a servo has been found, the light next to it will go from red to green.
	107	+The software currently supports two models of Lynxmotion PRO compatible grippers based on DH Robots' PGE-50-40 and CGE-10-10 electric grippers. The Lynxmotion kits include hardware to mount the fingers in multiple different offsets for smaller or larger objects. In the sequencer, the position of the fingers for each gripper are included in the sequencer as G.
219	219	)))
220		-|(% colspan="2" %)(((
221		-== Gripper Controls ==
222		-)))
223		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
224		-**Model**
225		-
226		-The software currently supports two models of Lynxmotion PRO compatible grippers based on DH Robots' PGE-50-40 and CGE-10-10 electric grippers. The Lynxmotion kits include hardware to mount the fingers in multiple different offsets for smaller or larger objects. In the sequencer, the position of the fingers for each gripper are included in the sequencer as J7.
227		-
	109	+| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
228	228	* PGE-50-40 (40mm default configuration)
229	229	* PGE-50-40 (60mm configuration)
230	230	* PGE-50-40 (80mm configuration)
...	...	@@ -231,47 +231,56 @@
231	231	* CGE-10-10 (20mm configuration)
232	232	* CGE-10-10 (40mm configuration)
233	233	* CGE-10-10 (60mm configuration)
234		-
	116	+)))
	117	+| |(% style="text-align:center; vertical-align:middle" %) |(((
235	235	**COM Port**
236	236
237	237	Choose the appropriate COM port to which the gripper is connected (via its own USB cable). If you are not certain, you can check Windows -> Device Manager
238		-
	121	+)))
	122	+| |(% style="text-align:center; vertical-align:middle" %) |(((
239	239	**Baudrate**
240	240
241	241	The DH Robotics grippers provide the option to change the baud rate, though the default is 115200. If the gripper is configured by the user to a different baud rate, it is important to select the corresponding baud rate in the software.
242		-
	126	+)))
	127	+| |(% style="text-align:center; vertical-align:middle" %) |(((
243	243	**Initialize**
244	244
245	245	Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
246		-
	131	+)))
	132	+| |(% style="text-align:center; vertical-align:middle" %) |(((
247	247	**Connect**
248	248
249	249	Pressing CONNECT establishes a connection to the gripper and goes through the initilization process once, opening the gripper fully. Once connection has been established, the light next to the button will go from red to green.
250		-
	136	+)))
	137	+| |(% style="text-align:center; vertical-align:middle" %) |(((
251	251	**Speed**
252	252
253	253	The speed of motion can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
254		-
	141	+)))
	142	+| |(% style="text-align:center; vertical-align:middle" %) |(((
255	255	**Force**
256	256
257	257	The maximum force exerted by the gripper can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
258		-
	146	+)))
	147	+| |(% style="text-align:center; vertical-align:middle" %) |(((
259	259	**Open / Close**
260	260
261	261	These are shortcut buttons to either fully open or fully close the gripper.
262		-
	151	+)))
	152	+| |(% style="text-align:center; vertical-align:middle" %) |(((
263	263	**Sequencer**
264	264
265		-The sequencer displays the gripper position as joint 7 (J7).
	155	+The sequencer displays the gripper position as joint G.
266	266
267		-HINT: If you want the gripper to open or close on an object only at the end of a motion, create a separate frame where only J7 moves.
	157	+HINT: If you want the gripper to open or close on an object only at the end of a motion, create a separate frame where only G moves.
268	268	)))
269		-|(% colspan="2" %)(((
	159	+| |(% colspan="2" rowspan="1" %)(((
270	270	== 3D Model ==
271	271	)))
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	162	+| |(% colspan="2" rowspan="1" %)(((
273	273	The 3D model of the arm is shown as reference at all times. The display also includes a virtual plane to denote  the X-Y plane. The model updates based on the selection of the arm, gripper and finger configuration.
274		-
	164	+)))
	165	+| |(% style="text-align:center; vertical-align:middle" %) |(((
275	275	**View Controls**
276	276
277	277	Zoom: Shift + Middle Scroll
...	...	@@ -280,46 +280,42 @@
280	280
281	281	Pan: None
282	282	)))
283		-|(% colspan="2" %)(((
	174	+| |(% colspan="2" rowspan="1" %)(((
284	284	== Manual Move ==
285	285	)))
286		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
	177	+| |(% style="text-align:center; vertical-align:middle" %) |(((
287	287	**Angular Control**
288	288
289	289	In angular mode, the user can control the angle of each joint
290		-
	181	+)))
	182	+| |(% style="text-align:center; vertical-align:middle" %) |(((
291	291	**Coordinates Control**
292	292
293	293	In coordinate control the user can control the cartesian position of the end effector
294		-
	186	+)))
	187	+| |(% style="text-align:center; vertical-align:middle" %) |(((
295	295	**End Effector Lock**
296	296
297	297	The orientation of the end effector can be locked.
298	298	)))
299		-|(% colspan="2" %)(((
	192	+| |(% colspan="2" rowspan="1" %)(((
300	300	== Direct Command ==
301	301	)))
302		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
303		-This section allow the user to send commands using the [[LSS-PRO Communication Protocol>>path:/info/wiki/lynxmotion/view/ses-pro/lss-pro/lss-p-communication-protocol/]] directly if required.
	195	+| |(% colspan="2" rowspan="1" %)(((
	196	+This section allow the user to send commands using the [[LSS-PRO Communication Protocol>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-pro/lss-pro/lss-p-communication-protocol/]] directly if required.
304	304
305	305	A few things to keep in mind when using this:
306	306
307		-* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	200	+* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
308	308	* Sending commands does not require ‘#’ and ‘\r’ chars.
309	309	** example for #2\r you should enter 2Q and press the "SEND" button
310	310	* The commands are validated, and it shows a notification in case of error.
311	311	* The replies of queries are shown in the text field below.
312	312	)))
313		-|(% colspan="2" %)(((
314		-== Command Output ==
315		-)))
316		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
317		-//{Coming Soon}//
318		-)))
319		-|(% colspan="2" %)(((
	206	+| |(% colspan="2" rowspan="1" %)(((
320	320	== Telemetry ==
321	321	)))
322		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
	209	+| |(% style="text-align:center; vertical-align:middle" %) |(((
323	323	**Data to Display**
324	324
325	325	Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
...	...	@@ -335,116 +335,121 @@
335	335	* MCU Temperature
336	336	* PCB Temperature
337	337	* Probe Temperature
338		-
	225	+)))
	226	+| |(% style="text-align:center; vertical-align:middle" %) |(((
339	339	**Display / Hide **
340	340
341	341	At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
342	342	)))
343		-|(% colspan="2" style="width:26px" %)(((
	231	+| |(% colspan="2" rowspan="1" %)(((
344	344	== Sequencer ==
345	345	)))
346		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
347		-**Sequence**
	234	+| |(% colspan="2" rowspan="1" %)**Sequence**
	235	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	236	+**Sequence Selector**
348	348
349		-Add
	238	+
	239	+)))
	240	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	241	+**Add**
350	350
351		-Substract
	243	+
	244	+)))
	245	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	246	+**Substract**
352	352
353		-Copy
	248	+
	249	+)))
	250	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	251	+**Copy**
354	354
355		-Save
	253	+
	254	+)))
	255	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	256	+**Save**
356	356
357		-Open
	258	+
	259	+)))
	260	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	261	+**Open**
358	358
359		-Delete
	263	+
	264	+)))
	265	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	266	+**Delete**
360	360
361		-//{Coming Soon}//
	268	+
	269	+)))
	270	+| |(% colspan="2" rowspan="1" %)**Frames**
	271	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	272	+**Add**
362	362
363		-**Frames**
	274	+
	275	+)))
	276	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	277	+**Sequence Selector**
364	364
365		-Add
	279	+
	280	+)))
	281	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	282	+**Record**
366	366
367		-Sequence Selector
	284	+
	285	+)))
	286	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	287	+**Delete**
368	368
369		-Record
	289	+
	290	+)))
	291	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	292	+**Copy**
370	370
371		-Delete
	294	+
	295	+)))
	296	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	297	+**Paste**
372	372
373		-Copy
	299	+
	300	+)))
	301	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	302	+**Swap**
374	374
375		-Paste
	304	+
	305	+)))
	306	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	307	+**Frame Name**
376	376
377		-Swap
	309	+
	310	+)))
	311	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	312	+**Frame length**
378	378
379		-Manual Edit
380		-
381		-Time, angles, gripper
382		-
383		-Moving Frames
384		-
385	385	//Alt + Left Click = Drag time//
	315	+)))
	316	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	317	+**Frame Move**
386	386
387		-//{Coming Soon}//
	319	+
	320	+)))
	321	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	322	+**Loop**
388	388
389		-**Errors**
	324	+
	325	+)))
	326	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	327	+**Manual Edit**
390	390
391		-//{Coming Soon}//
	329	+Time, angles, gripper
392	392	)))
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	331	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	332	+**Zoom**
447	447
	334	+
	335	+)))
	336	+| |(% colspan="2" rowspan="1" %)**Errors**
	337	+| |(% style="text-align:center; vertical-align:middle" %) |
	338	+| |(% style="text-align:center; vertical-align:middle" %) |
	339	+
448	448	{{comment}}
449	449	= =
450	450