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104	104	| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
105	105	**Model**
106	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.
	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.
108	108	)))
109	109	| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
110	110	* PGE-50-40 (40mm default configuration)
...	...	@@ -152,171 +152,17 @@
152	152	| |(% style="text-align:center; vertical-align:middle" %) |(((
153	153	**Sequencer**
154	154
155		-The sequencer displays the gripper position as joint 7 (J7).
	155	+The sequencer displays the gripper position as joint G.
156	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.
	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.
158	158	)))
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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" %)(((
	159	+| |(% colspan="2" rowspan="1" %)(((
315	315	== 3D Model ==
316	316	)))
317		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
	162	+| |(% colspan="2" rowspan="1" %)(((
318	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		-
	164	+)))
	165	+| |(% style="text-align:center; vertical-align:middle" %) |(((
320	320	**View Controls**
321	321
322	322	Zoom: Shift + Middle Scroll
...	...	@@ -325,46 +325,42 @@
325	325
326	326	Pan: None
327	327	)))
328		-|(% colspan="2" %)(((
	174	+| |(% colspan="2" rowspan="1" %)(((
329	329	== Manual Move ==
330	330	)))
331		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
	177	+| |(% style="text-align:center; vertical-align:middle" %) |(((
332	332	**Angular Control**
333	333
334	334	In angular mode, the user can control the angle of each joint
335		-
	181	+)))
	182	+| |(% style="text-align:center; vertical-align:middle" %) |(((
336	336	**Coordinates Control**
337	337
338	338	In coordinate control the user can control the cartesian position of the end effector
339		-
	186	+)))
	187	+| |(% style="text-align:center; vertical-align:middle" %) |(((
340	340	**End Effector Lock**
341	341
342	342	The orientation of the end effector can be locked.
343	343	)))
344		-|(% colspan="2" %)(((
	192	+| |(% colspan="2" rowspan="1" %)(((
345	345	== Direct Command ==
346	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.
	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.
349	349
350	350	A few things to keep in mind when using this:
351	351
352		-* 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.
353	353	* Sending commands does not require ‘#’ and ‘\r’ chars.
354	354	** example for #2\r you should enter 2Q and press the "SEND" button
355	355	* The commands are validated, and it shows a notification in case of error.
356	356	* The replies of queries are shown in the text field below.
357	357	)))
358		-|(% colspan="2" %)(((
359		-== Command Output ==
360		-)))
361		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
362		-//{Coming Soon}//
363		-)))
364		-|(% colspan="2" %)(((
	206	+| |(% colspan="2" rowspan="1" %)(((
365	365	== Telemetry ==
366	366	)))
367		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
	209	+| |(% style="text-align:center; vertical-align:middle" %) |(((
368	368	**Data to Display**
369	369
370	370	Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
...	...	@@ -380,116 +380,121 @@
380	380	* MCU Temperature
381	381	* PCB Temperature
382	382	* Probe Temperature
383		-
	225	+)))
	226	+| |(% style="text-align:center; vertical-align:middle" %) |(((
384	384	**Display / Hide **
385	385
386	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	387	)))
388		-|(% colspan="2" style="width:26px" %)(((
	231	+| |(% colspan="2" rowspan="1" %)(((
389	389	== Sequencer ==
390	390	)))
391		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
392		-**Sequence**
	234	+| |(% colspan="2" rowspan="1" %)**Sequence**
	235	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	236	+**Sequence Selector**
393	393
394		-Add
	238	+
	239	+)))
	240	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	241	+**Add**
395	395
396		-Substract
	243	+
	244	+)))
	245	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	246	+**Substract**
397	397
398		-Copy
	248	+
	249	+)))
	250	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	251	+**Copy**
399	399
400		-Save
	253	+
	254	+)))
	255	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	256	+**Save**
401	401
402		-Open
	258	+
	259	+)))
	260	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	261	+**Open**
403	403
404		-Delete
	263	+
	264	+)))
	265	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	266	+**Delete**
405	405
406		-//{Coming Soon}//
	268	+
	269	+)))
	270	+| |(% colspan="2" rowspan="1" %)**Frames**
	271	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	272	+**Add**
407	407
408		-**Frames**
	274	+
	275	+)))
	276	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	277	+**Sequence Selector**
409	409
410		-Add
	279	+
	280	+)))
	281	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	282	+**Record**
411	411
412		-Sequence Selector
	284	+
	285	+)))
	286	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	287	+**Delete**
413	413
414		-Record
	289	+
	290	+)))
	291	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	292	+**Copy**
415	415
416		-Delete
	294	+
	295	+)))
	296	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	297	+**Paste**
417	417
418		-Copy
	299	+
	300	+)))
	301	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	302	+**Swap**
419	419
420		-Paste
	304	+
	305	+)))
	306	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	307	+**Frame Name**
421	421
422		-Swap
	309	+
	310	+)))
	311	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	312	+**Frame length**
423	423
424		-Manual Edit
425		-
426		-Time, angles, gripper
427		-
428		-Moving Frames
429		-
430	430	//Alt + Left Click = Drag time//
	315	+)))
	316	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	317	+**Frame Move**
431	431
432		-//{Coming Soon}//
	319	+
	320	+)))
	321	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	322	+**Loop**
433	433
434		-**Errors**
	324	+
	325	+)))
	326	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	327	+**Manual Edit**
435	435
436		-//{Coming Soon}//
	329	+Time, angles, gripper
437	437	)))
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	331	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	332	+**Zoom**
492	492
	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	+
493	493	{{comment}}
494	494	= =
495	495