Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 52.2 >
edited by Eric Nantel
on 2024/10/16 12:42
To version < 13.1 >
edited by Eric Nantel
on 2024/09/23 07:59
< >
Change comment: There is no comment for this version

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1 -{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-software/ses-pro-arm-ui/WebHome/SES-PRO-Robotic-Arm-UI.png" width="350"/}}
1 +{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-software/ses-pro-arm-ui/WebHome/LSS-PRO-UI.png" width="350"/}}
2 2  
3 -[[[[image:lynxmotion-wiki-attachments.WebHome@DownloadNow.png]]>>https://lynxmotion.com/tools/ses-pro-app/lynxmotion_ses_pro_robotic_arm_ui_stable.exe]]
3 +[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg]]
4 4  
5 5  **Table of Contents**
6 6  
... ... @@ -8,669 +8,184 @@
8 8  
9 9  = Description =
10 10  
11 -The Lynxmotion Servo Erector Set Professional (SES PRO) Robotic Arm User Interface (UI) is a simple software which allows a user to control any of the Lynxmotion Professional Modular robotic arms in their default configuration. The two compatible gripper kits which are compatible with the SES PRO system (based on the DH Robotics PGE-50-40 and CGE-10-10 DC grillers) can also be controlled via this interface in each of their possible configurations. The included manual jog feature can be used to either position each joint angle, or move to specific cartesian coordinates. Arm (and gripper) positions can then be recorded as part of the built-in sequencer. A 3D display of the arm shows the position of the arm, and a graph can be used to show various information to the user. In order to get a better understanding of the protocol, commands sent to the arm are shown in the interface, and a user input field are standard.
12 12  
13 13  = Features =
14 14  
15 -* Angular and cartesian positioning of the end effector
16 -* 3D graphical display of the appropriate robotic arm and end effector
17 -* Sequencer to record and play back frames (single, looped or infinite)
18 -* Error checking (speed, temperature etc.)
19 -* Command output and user input
20 -* Safety (Software E-Stop, Halt&Hold & Limp)
21 21  
22 -__Compatibility: Windows 7 Operating System or above__
15 +<direct commands>
23 23  
24 -
25 -|(% colspan="3" %)(((
26 -= User Guide =
27 -)))
28 -|(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
29 -Before proceeding with the guide, it is important to note the following:
30 -
31 -* 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
32 -* 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
33 -)))
34 -| |(% style="text-align:center; vertical-align:middle; width:125px" %)[[image:ses-pro-robotic-arm-ui-info.png]]|Pressing the i "Information" icon in the software will bring you to this page.
35 -| |(% colspan="2" rowspan="1" %)(((
36 -== IMPORTANT ==
37 -)))
38 -| |(% colspan="2" rowspan="1" %)(((
39 -=== Payload Considerations ===
40 -)))
41 -| |(% colspan="2" rowspan="1" %)(((
42 -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.
43 -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.
44 -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.
45 -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".
46 -)))
47 -| |(% colspan="2" rowspan="1" %)(((
48 -=== Emergency ===
49 -)))
50 -| |(% colspan="2" rowspan="1" %)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. 
51 -The following emergency options are available based on severity:
52 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]|(((
53 -**Halt (and hold)**
54 -
55 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
56 -)))
57 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((
58 -**Limp**
59 -
60 -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>.
61 -)))
62 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]|(((
63 -**Software E-Stop**
64 -
65 -The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
66 -)))
67 -| |(% style="text-align:center; vertical-align:middle" %) |(((
68 -**Power Supply E-Stop**
69 -
70 -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.
71 -)))
72 -| |(% colspan="2" rowspan="1" %)(((
73 -== Arm Connection ==
74 -)))
75 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
76 -**Model**
77 -
78 -The software currently supports the following Lynxmotion PRO Arms:
79 -
80 -* 550mm 5DoF
81 -* 550mm 6DoF
82 -* 900mm 5DoF
83 -* 900mm 6DoF
84 -
85 -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.
86 -)))
87 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]|(((
88 -**COM Port**
89 -
90 -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.
91 -)))
92 -| |(% style="text-align:center; vertical-align:middle" %)(((
93 -[[image:ses-pro-robotic-arm-ui-connect.png]]
94 -
95 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
96 -)))|(((
97 -**Connect / Disconnect**
98 -
99 -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.
100 -)))
101 -| |(% colspan="2" rowspan="1" %)(((
102 -== Gripper Controls ==
103 -)))
104 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
105 -**Model**
106 -
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 J7.
108 -)))
109 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
110 -* PGE-50-40 (40mm default configuration)
111 -* PGE-50-40 (60mm configuration)
112 -* PGE-50-40 (80mm configuration)
113 -* CGE-10-10 (20mm configuration)
114 -* CGE-10-10 (40mm configuration)
115 -* CGE-10-10 (60mm configuration)
116 -)))
117 -| |(% style="text-align:center; vertical-align:middle" %) |(((
118 -**COM Port**
119 -
120 -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
121 -)))
122 -| |(% style="text-align:center; vertical-align:middle" %) |(((
123 -**Baudrate**
124 -
125 -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.
126 -)))
127 -| |(% style="text-align:center; vertical-align:middle" %) |(((
128 -**Initialize**
129 -
130 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
131 -)))
132 -| |(% style="text-align:center; vertical-align:middle" %) |(((
133 -**Connect**
134 -
135 -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.
136 -)))
137 -| |(% style="text-align:center; vertical-align:middle" %) |(((
138 -**Speed**
139 -
140 -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.
141 -)))
142 -| |(% style="text-align:center; vertical-align:middle" %) |(((
143 -**Force**
144 -
145 -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.
146 -)))
147 -| |(% style="text-align:center; vertical-align:middle" %) |(((
148 -**Open / Close**
149 -
150 -These are shortcut buttons to either fully open or fully close the gripper.
151 -)))
152 -| |(% style="text-align:center; vertical-align:middle" %) |(((
153 -**Sequencer**
154 -
155 -The sequencer displays the gripper position as joint 7 (J7).
156 -
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 J7 moves.
158 -)))
159 -| |(% style="text-align:center; vertical-align:middle" %) |
160 -| |(% style="text-align:center; vertical-align:middle" %) |
161 -| |(% style="text-align:center; vertical-align:middle" %) |
162 -| |(% style="text-align:center; vertical-align:middle" %) |
163 -| |(% style="text-align:center; vertical-align:middle" %) |
164 -| |(% style="text-align:center; vertical-align:middle" %) |
165 -| |(% style="text-align:center; vertical-align:middle" %) |
166 -| |(% style="text-align:center; vertical-align:middle" %) |
167 -| |(% style="text-align:center; vertical-align:middle" %) |
168 -| |(% style="text-align:center; vertical-align:middle" %) |
169 -| |(% style="text-align:center; vertical-align:middle" %) |
170 -| |(% style="text-align:center; vertical-align:middle" %) |
171 -| |(% style="text-align:center; vertical-align:middle" %) |
172 -| |(% style="text-align:center; vertical-align:middle" %) |
173 -| |(% style="text-align:center; vertical-align:middle" %) |
174 -| |(% style="text-align:center; vertical-align:middle" %) |
175 -| |(% style="text-align:center; vertical-align:middle" %) |
176 -| |(% style="text-align:center; vertical-align:middle" %) |
177 -| |(% style="text-align:center; vertical-align:middle" %) |
178 -| |(% style="text-align:center; vertical-align:middle" %) |
179 -| |(% style="text-align:center; vertical-align:middle" %) |
180 -| |(% style="text-align:center; vertical-align:middle" %) |
181 -| |(% style="text-align:center; vertical-align:middle" %) |
182 -| |(% style="text-align:center; vertical-align:middle" %) |
183 -
184 -|(% colspan="2" %)(((
185 -= User Guide =
186 -)))
187 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
188 -Before proceeding with the guide, it is important to note the following:
189 -
190 -* 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
191 -* 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
192 -
193 -Pressing the i "Information" icon in the software will bring you to this page.
194 -
195 -[[image:ses-pro-robotic-arm-ui-info.png]]
196 -)))
197 -|(% colspan="2" %)(((
198 -== IMPORTANT ==
199 -)))
200 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
201 -=== Payload Considerations ===
202 -
203 -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.
204 -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.
205 -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.
206 -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".
207 -)))
208 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
209 -=== Emergency ===
210 -
211 -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:
212 -
213 -**Halt (and hold)**
214 -
215 -**[[image:ses-pro-robotic-arm-ui-halt.png]]**
216 -
217 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
218 -
219 -**Limp**
220 -
221 -**[[image:ses-pro-robotic-arm-ui-limp.png]]**
222 -
223 -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>.
224 -
225 -**Software E-Stop**
226 -
227 -**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
228 -
229 -The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
230 -
231 -**Power Supply E-Stop**
232 -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.
233 -)))
234 -|(% colspan="2" %)(((
235 -== Arm Connection ==
236 -)))
237 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
238 -**Model**
239 -
240 -**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
241 -
242 -The software currently supports the following Lynxmotion PRO Arms:
243 -
244 -* 550mm 5DoF
245 -* 550mm 6DoF
246 -* 900mm 5DoF
247 -* 900mm 6DoF
248 -
249 -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.
250 -
251 -**COM Port**
252 -
253 -**[[image:ses-pro-robotic-arm-ui-com.png]]**
254 -
255 -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. 
256 -
257 -**Connect / Disconnect**
258 -
259 -[[image:ses-pro-robotic-arm-ui-connect.png]]
260 -
261 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
262 -
263 -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.
264 -)))
265 -|(% colspan="2" %)(((
266 -== Gripper Controls ==
267 -)))
268 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
269 -**Model**
270 -
271 -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.
272 -
273 -* PGE-50-40 (40mm default configuration)
274 -* PGE-50-40 (60mm configuration)
275 -* PGE-50-40 (80mm configuration)
276 -* CGE-10-10 (20mm configuration)
277 -* CGE-10-10 (40mm configuration)
278 -* CGE-10-10 (60mm configuration)
279 -
280 -**COM Port**
281 -
282 -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
283 -
284 -**Baudrate**
285 -
286 -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.
287 -
288 -**Initialize**
289 -
290 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
291 -
292 -**Connect**
293 -
294 -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.
295 -
296 -**Speed**
297 -
298 -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.
299 -
300 -**Force**
301 -
302 -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.
303 -
304 -**Open / Close**
305 -
306 -These are shortcut buttons to either fully open or fully close the gripper.
307 -
308 -**Sequencer**
309 -
310 -The sequencer displays the gripper position as joint 7 (J7).
311 -
312 -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.
313 -)))
314 -|(% colspan="2" %)(((
315 -== 3D Model ==
316 -)))
317 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
318 -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.
319 -
320 -**View Controls**
321 -
322 -Zoom: Shift + Middle Scroll
323 -
324 -Rotate: Shift + Middle Mouse
325 -
326 -Pan: None
327 -)))
328 -|(% colspan="2" %)(((
329 -== Manual Move ==
330 -)))
331 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
332 -**Angular Control**
333 -
334 -In angular mode, the user can control the angle of each joint
335 -
336 -**Coordinates Control**
337 -
338 -In coordinate control the user can control the cartesian position of the end effector
339 -
340 -**End Effector Lock**
341 -
342 -The orientation of the end effector can be locked.
343 -)))
344 -|(% colspan="2" %)(((
345 -== Direct Command ==
346 -)))
347 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
348 -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.
349 -
350 -A few things to keep in mind when using this:
351 -
352 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
353 -* Sending commands does not require ‘#’ and ‘\r’ chars.
354 -** example for #2\r you should enter 2Q and press the "SEND" button
17 +* Does not require ‘#’ and ‘\r’ chars, example for #254Q\r the user should enter 254Q.
18 +* The replies of the query commands are shown in the text field below.
355 355  * The commands are validated, and it shows a notification in case of error.
356 -* The replies of queries are shown in the text field below.
357 -)))
358 -|(% colspan="2" %)(((
359 -== Command Output ==
360 -)))
361 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
362 -//{Coming Soon}//
363 -)))
364 -|(% colspan="2" %)(((
365 -== Telemetry ==
366 -)))
367 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
368 -**Data to Display**
20 +* Supported commands:
369 369  
370 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
22 +Action:
371 371  
372 -* Position
373 -* Current
374 -* Linear Accel X
375 -* Linear Accel Y
376 -* Linear Accel Z
377 -* Angular Accel α
378 -* Angular Accel β
379 -* Angular Accel γ
380 -* MCU Temperature
381 -* PCB Temperature
382 -* Probe Temperature
24 + # Communication setup
383 383  
384 -**Display / Hide **
26 + RESET = "RESET"
385 385  
386 -At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
387 -)))
388 -|(% colspan="2" style="width:26px" %)(((
389 -== Sequencer ==
390 -)))
391 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
392 -**Sequence**
28 + DEFAULT_CONFIGURATION = "DEFAULT"
393 393  
394 -Add
30 + FIRMWARE_UPDATE_MODE = "UPDATE"
395 395  
396 -Substract
32 + CONFIRM_CHANGES = "CONFIRM"
397 397  
398 -Copy
34 + # Motion
399 399  
400 -Save
36 + POSITION = "D"
401 401  
402 -Open
38 + MOVE_DEGREES = "MD"
403 403  
404 -Delete
40 + WHEEL_MODE_DEGREES = "WD"
405 405  
406 -//{Coming Soon}//
42 + WHEEL_MODE_RPM = "WR"
407 407  
408 -**Frames**
44 + HALT_AND_HOLD = "H"
409 409  
410 -Add
46 + LIMP = "L"
411 411  
412 -Sequence Selector
48 + # Motion setup
413 413  
414 -Record
50 + ORIGIN_OFFSET = "O"
415 415  
416 -Delete
52 + ANGULAR_RANGE = "AR"
417 417  
418 -Copy
54 + ANGULAR_ACCELERATION = "AA"
419 419  
420 -Paste
56 + ANGULAR_DECELERATION = "AD"
421 421  
422 -Swap
58 + GYRE_DIRECTION = "G"
423 423  
424 -Manual Edit
60 + MAX_SPEED_DEGREES = "SD"
425 425  
426 -Time, angles, gripper
62 + MAX_SPEED_RPM = "SR"
427 427  
428 -Moving Frames
64 + # RGB LED
429 429  
430 -//Alt + Left Click = Drag time//
66 + LED_COLOR = "LED"
431 431  
432 -//{Coming Soon}//
68 + Query:
433 433  
434 -**Errors**
70 + # Communication setup
435 435  
436 -//{Coming Soon}//
437 -)))
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72 + ID_NUMBER = "QID"
492 492  
493 -{{comment}}
494 -= =
74 + ENABLE_CAN_TERMINAL = "QET"
495 495  
496 -= User Guide =
76 + USB_CONNECTION_STATUS = "QUC"
497 497  
498 -Pressing the i "Information" icon in the software will bring you to this page. Before proceeding with the guide, it is important to note the following:
78 + # Motion
499 499  
500 -* 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
501 -* 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
80 + POSITION = "QD"
502 502  
503 -== IMPORTANT: Payload Considerations ==
82 + WHEEL_MODE_DEGREES = "QWD"
504 504  
505 -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.
506 -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.
507 -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.
508 -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".
84 + WHEEL_MODE_RPM = "QWR"
509 509  
510 -== IMPORTANT: Emergency ==
86 + MOTION_STATUS = "Q"
511 511  
512 -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:
88 + MOTION_TIME = "QMT"
513 513  
514 -**Halt & Hold**
90 + CURRENT_SPEED = "QCS"
515 515  
516 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
517 517  
518 -**Limp**
93 + # Telemetry
519 519  
520 -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>.
95 + MODEL_STRING = "QMS" 
521 521  
522 -**Software Stop**
97 + FIRMWARE_VERSION = "QF" 
523 523  
524 -The E-stop button within the software sets all joints to limp.
99 + SERIAL_NUMBER = "QN" 
525 525  
526 -**Hardware E-Stop**
527 -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.
101 + TEMP_CONTROLLER_ERROR = "QTCE" 
528 528  
529 -== Arm Connection ==
103 + TEMP_CONTROLLER_WARNING = "QTCW" 
530 530  
531 -**Model**
105 + CURRENT = "QC"
532 532  
533 -The software currently supports the following Lynxmotion PRO Arms:
107 + ACCX = "QIX"
534 534  
535 -* 550mm 5DoF
536 -* 550mm 6DoF
537 -* 900mm 5DoF
538 -* 900mm 6DoF
109 + ACCY = "QIY"
539 539  
540 -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.
111 + ACCZ = "QIZ"
541 541  
542 -**COM Port**
113 + ACCALPHA = "QIA"
543 543  
544 -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. 
115 + ACCBETA = "QIB"
545 545  
546 -**Connect**
117 + ACCGAMMA = "QIG"
547 547  
548 -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.
119 + TEMPMCU = "QTM"
549 549  
550 -== Gripper Controls ==
121 + TEMPPROBE = "QTP"
551 551  
552 -**Model**
123 + TEMPPCB = "QT"
553 553  
554 -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.
125 + ERROR_FLAGS = "QEF"
555 555  
556 -* PGE-50-40 (40mm default configuration)
557 -* PGE-50-40 (60mm configuration)
558 -* PGE-50-40 (80mm configuration)
559 -* CGE-10-10 (20mm configuration)
560 -* CGE-10-10 (40mm configuration)
561 -* CGE-10-10 (60mm configuration)
562 562  
563 -**COM Port**
128 + # RGB LED
564 564  
565 -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
130 + LED_COLOR = "QLED"
566 566  
567 -**Baudrate**
132 + LED_BLINKING = "QLB"
568 568  
569 -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 teh software.
134 + LED_INDICATOR = "QLI"
570 570  
571 -**Initialize**
572 572  
573 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
137 + # Motion setup
574 574  
575 -**Connect**
139 + ORIGIN_OFFSET = "QO"
576 576  
577 -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.
141 + ANGULAR_RANGE = "QAR"
578 578  
579 -**Speed**
143 + ANGULAR_ACCELERATION = "QAA"
580 580  
581 -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.
145 + ANGULAR_DECELERATION = "QAD"
582 582  
583 -**Force**
147 + GYRE_DIRECTION = "QG"
584 584  
585 -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.
149 + MAX_SPEED_DEGREES = "QSD"
586 586  
587 -**Open / Close**
151 + MAX_SPEED_RPM = "QSR"
588 588  
589 -These are shortcut buttons to either fully open or fully close the gripper.
590 590  
591 -**Sequencer**
154 + Conf:
592 592  
593 -The sequencer displays the gripper position as joint 7 (J7).
156 + # Communication setup
594 594  
595 -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.
158 + ID_NUMBER = "CID"
596 596  
597 -== 3D Model ==
160 + ENABLE_CAN_TERMINAL = "CET"
598 598  
599 -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.
162 + USB_CONNECTION_STATUS = "CUC"
600 600  
601 -**View Controls**
164 + # Motion setup
602 602  
603 -Zoom: Shift + Middle Scroll
166 + MAX_SPEED_DEGREES = "CSD"
604 604  
605 -Rotate: Shift + Middle Mouse
168 + MAX_SPEED_RPM = "CSR"
606 606  
607 -Pan: None
170 + ORIGIN_OFFSET = "CO"
608 608  
609 -== Manual Move ==
172 + ANGULAR_RANGE = "CAR"
610 610  
611 -**Angular Control**
174 + ANGULAR_ACCELERATION = "CAA"
612 612  
613 -In angular mode, the user can control the angle of each joint
176 + ANGULAR_DECELERATION = "CAD"
614 614  
615 -**Coordinates Control**
178 + GYRE_DIRECTION = "CG"
616 616  
617 -In coordinate control the user can control the cartesian position of the end effector
180 + # RGB LED
618 618  
619 -**End Effector Lock**
182 + LED_COLOR = "CLED"
620 620  
621 -The orientation of the end effector can be locked.
184 + LED_BLINKING = "CLB"
622 622  
623 -== Direct Command ==
624 624  
625 -This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
187 + Modifier:
626 626  
627 -A few things to keep in mind when using this:
189 + SPEED = "SD"
628 628  
629 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
630 -* Sending commands does not require ‘#’ and ‘\r’ chars.
631 -** example for #2\r you should enter 2Q and press the "SEND" button
632 -* The commands are validated, and it shows a notification in case of error.
633 -* The replies of queries are shown in the text field below.
634 -
635 -== Command Output ==
636 -
637 -//{Coming Soon}//
638 -
639 -== Telemetry ==
640 -
641 -**Data to Display**
642 -
643 -//{Coming Soon}//
644 -
645 -**Display / Hide Actuator**
646 -
647 -//{Coming Soon}//
648 -
649 -== Sequencer ==
650 -
651 -**Frames**
652 -
653 -//{Coming Soon}//
654 -
655 -**Record **
656 -
657 -//{Coming Soon}//
658 -
659 -**Edit **
660 -
661 -Time, angles, gripper
662 -
663 -//Alt + Left Click = Drag time//
664 -
665 -**Reorder**
666 -
667 -//{Coming Soon}//
668 -
669 -**Play**
670 -
671 -//{Coming Soon}//
672 -
673 -**Errors**
674 -
675 -//{Coming Soon}//
676 -{{/comment}}
191 + TIME = "T"
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