Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 52.3 >
edited by Eric Nantel
on 2024/10/16 12:43
To version < 12.1 >
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  
... ... @@ -8,681 +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 -| |(% colspan="2" rowspan="1" %)(((
160 -== 3D Model ==
161 -)))
162 -| |(% colspan="2" rowspan="1" %)(((
163 -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.
164 -)))
165 -| |(% style="text-align:center; vertical-align:middle" %) |(((
166 -**View Controls**
167 -
168 -Zoom: Shift + Middle Scroll
169 -
170 -Rotate: Shift + Middle Mouse
171 -
172 -Pan: None
173 -)))
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 -| |(% style="text-align:center; vertical-align:middle" %) |
184 -| |(% style="text-align:center; vertical-align:middle" %) |
185 -| |(% style="text-align:center; vertical-align:middle" %) |
186 -| |(% style="text-align:center; vertical-align:middle" %) |
187 -| |(% style="text-align:center; vertical-align:middle" %) |
188 -| |(% style="text-align:center; vertical-align:middle" %) |
189 -| |(% style="text-align:center; vertical-align:middle" %) |
190 -| |(% style="text-align:center; vertical-align:middle" %) |
191 -| |(% style="text-align:center; vertical-align:middle" %) |
192 -| |(% style="text-align:center; vertical-align:middle" %) |
193 -| |(% style="text-align:center; vertical-align:middle" %) |
194 -| |(% style="text-align:center; vertical-align:middle" %) |
195 -
196 -|(% colspan="2" %)(((
197 -= User Guide =
198 -)))
199 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
200 -Before proceeding with the guide, it is important to note the following:
201 -
202 -* 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
203 -* 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
204 -
205 -Pressing the i "Information" icon in the software will bring you to this page.
206 -
207 -[[image:ses-pro-robotic-arm-ui-info.png]]
208 -)))
209 -|(% colspan="2" %)(((
210 -== IMPORTANT ==
211 -)))
212 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
213 -=== Payload Considerations ===
214 -
215 -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.
216 -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.
217 -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.
218 -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".
219 -)))
220 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
221 -=== Emergency ===
222 -
223 -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:
224 -
225 -**Halt (and hold)**
226 -
227 -**[[image:ses-pro-robotic-arm-ui-halt.png]]**
228 -
229 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
230 -
231 -**Limp**
232 -
233 -**[[image:ses-pro-robotic-arm-ui-limp.png]]**
234 -
235 -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>.
236 -
237 -**Software E-Stop**
238 -
239 -**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
240 -
241 -The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
242 -
243 -**Power Supply E-Stop**
244 -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.
245 -)))
246 -|(% colspan="2" %)(((
247 -== Arm Connection ==
248 -)))
249 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
250 -**Model**
251 -
252 -**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
253 -
254 -The software currently supports the following Lynxmotion PRO Arms:
255 -
256 -* 550mm 5DoF
257 -* 550mm 6DoF
258 -* 900mm 5DoF
259 -* 900mm 6DoF
260 -
261 -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.
262 -
263 -**COM Port**
264 -
265 -**[[image:ses-pro-robotic-arm-ui-com.png]]**
266 -
267 -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. 
268 -
269 -**Connect / Disconnect**
270 -
271 -[[image:ses-pro-robotic-arm-ui-connect.png]]
272 -
273 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
274 -
275 -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.
276 -)))
277 -|(% colspan="2" %)(((
278 -== Gripper Controls ==
279 -)))
280 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
281 -**Model**
282 -
283 -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.
284 -
285 -* PGE-50-40 (40mm default configuration)
286 -* PGE-50-40 (60mm configuration)
287 -* PGE-50-40 (80mm configuration)
288 -* CGE-10-10 (20mm configuration)
289 -* CGE-10-10 (40mm configuration)
290 -* CGE-10-10 (60mm configuration)
291 -
292 -**COM Port**
293 -
294 -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
295 -
296 -**Baudrate**
297 -
298 -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.
299 -
300 -**Initialize**
301 -
302 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
303 -
304 -**Connect**
305 -
306 -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.
307 -
308 -**Speed**
309 -
310 -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.
311 -
312 -**Force**
313 -
314 -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.
315 -
316 -**Open / Close**
317 -
318 -These are shortcut buttons to either fully open or fully close the gripper.
319 -
320 -**Sequencer**
321 -
322 -The sequencer displays the gripper position as joint 7 (J7).
323 -
324 -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.
325 -)))
326 -|(% colspan="2" %)(((
327 -== 3D Model ==
328 -)))
329 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
330 -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.
331 -
332 -**View Controls**
333 -
334 -Zoom: Shift + Middle Scroll
335 -
336 -Rotate: Shift + Middle Mouse
337 -
338 -Pan: None
339 -)))
340 -|(% colspan="2" %)(((
341 -== Manual Move ==
342 -)))
343 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
344 -**Angular Control**
345 -
346 -In angular mode, the user can control the angle of each joint
347 -
348 -**Coordinates Control**
349 -
350 -In coordinate control the user can control the cartesian position of the end effector
351 -
352 -**End Effector Lock**
353 -
354 -The orientation of the end effector can be locked.
355 -)))
356 -|(% colspan="2" %)(((
357 -== Direct Command ==
358 -)))
359 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
360 -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.
361 -
362 -A few things to keep in mind when using this:
363 -
364 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
365 -* Sending commands does not require ‘#’ and ‘\r’ chars.
366 -** 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.
367 367  * The commands are validated, and it shows a notification in case of error.
368 -* The replies of queries are shown in the text field below.
369 -)))
370 -|(% colspan="2" %)(((
371 -== Command Output ==
372 -)))
373 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
374 -//{Coming Soon}//
375 -)))
376 -|(% colspan="2" %)(((
377 -== Telemetry ==
378 -)))
379 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
380 -**Data to Display**
20 +* Supported commands:
381 381  
382 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
22 +Action:
383 383  
384 -* Position
385 -* Current
386 -* Linear Accel X
387 -* Linear Accel Y
388 -* Linear Accel Z
389 -* Angular Accel α
390 -* Angular Accel β
391 -* Angular Accel γ
392 -* MCU Temperature
393 -* PCB Temperature
394 -* Probe Temperature
24 + # Communication setup
395 395  
396 -**Display / Hide **
26 + RESET = "RESET"
397 397  
398 -At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
399 -)))
400 -|(% colspan="2" style="width:26px" %)(((
401 -== Sequencer ==
402 -)))
403 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
404 -**Sequence**
28 + DEFAULT_CONFIGURATION = "DEFAULT"
405 405  
406 -Add
30 + FIRMWARE_UPDATE_MODE = "UPDATE"
407 407  
408 -Substract
32 + CONFIRM_CHANGES = "CONFIRM"
409 409  
410 -Copy
34 + # Motion
411 411  
412 -Save
36 + POSITION = "D"
413 413  
414 -Open
38 + MOVE_DEGREES = "MD"
415 415  
416 -Delete
40 + WHEEL_MODE_DEGREES = "WD"
417 417  
418 -//{Coming Soon}//
42 + WHEEL_MODE_RPM = "WR"
419 419  
420 -**Frames**
44 + HALT_AND_HOLD = "H"
421 421  
422 -Add
46 + LIMP = "L"
423 423  
424 -Sequence Selector
48 + # Motion setup
425 425  
426 -Record
50 + ORIGIN_OFFSET = "O"
427 427  
428 -Delete
52 + ANGULAR_RANGE = "AR"
429 429  
430 -Copy
54 + ANGULAR_ACCELERATION = "AA"
431 431  
432 -Paste
56 + ANGULAR_DECELERATION = "AD"
433 433  
434 -Swap
58 + GYRE_DIRECTION = "G"
435 435  
436 -Manual Edit
60 + MAX_SPEED_DEGREES = "SD"
437 437  
438 -Time, angles, gripper
62 + MAX_SPEED_RPM = "SR"
439 439  
440 -Moving Frames
64 + # RGB LED
441 441  
442 -//Alt + Left Click = Drag time//
66 + LED_COLOR = "LED"
443 443  
444 -//{Coming Soon}//
68 + Query:
445 445  
446 -**Errors**
70 + # Communication setup
447 447  
448 -//{Coming Soon}//
449 -)))
450 -|(% style="width:26px" %) |(% style="width:1452px" %)
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72 + ID_NUMBER = "QID"
504 504  
505 -{{comment}}
506 -= =
74 + ENABLE_CAN_TERMINAL = "QET"
507 507  
508 -= User Guide =
76 + USB_CONNECTION_STATUS = "QUC"
509 509  
510 -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
511 511  
512 -* 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
513 -* 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"
514 514  
515 -== IMPORTANT: Payload Considerations ==
82 + WHEEL_MODE_DEGREES = "QWD"
516 516  
517 -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.
518 -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.
519 -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.
520 -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"
521 521  
522 -== IMPORTANT: Emergency ==
86 + MOTION_STATUS = "Q"
523 523  
524 -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"
525 525  
526 -**Halt & Hold**
90 + CURRENT_SPEED = "QCS"
527 527  
528 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
529 529  
530 -**Limp**
93 + # Telemetry
531 531  
532 -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" 
533 533  
534 -**Software Stop**
97 + FIRMWARE_VERSION = "QF" 
535 535  
536 -The E-stop button within the software sets all joints to limp.
99 + SERIAL_NUMBER = "QN" 
537 537  
538 -**Hardware E-Stop**
539 -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" 
540 540  
541 -== Arm Connection ==
103 + TEMP_CONTROLLER_WARNING = "QTCW" 
542 542  
543 -**Model**
105 + CURRENT = "QC"
544 544  
545 -The software currently supports the following Lynxmotion PRO Arms:
107 + ACCX = "QIX"
546 546  
547 -* 550mm 5DoF
548 -* 550mm 6DoF
549 -* 900mm 5DoF
550 -* 900mm 6DoF
109 + ACCY = "QIY"
551 551  
552 -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"
553 553  
554 -**COM Port**
113 + ACCALPHA = "QIA"
555 555  
556 -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"
557 557  
558 -**Connect**
117 + ACCGAMMA = "QIG"
559 559  
560 -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"
561 561  
562 -== Gripper Controls ==
121 + TEMPPROBE = "QTP"
563 563  
564 -**Model**
123 + TEMPPCB = "QT"
565 565  
566 -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"
567 567  
568 -* PGE-50-40 (40mm default configuration)
569 -* PGE-50-40 (60mm configuration)
570 -* PGE-50-40 (80mm configuration)
571 -* CGE-10-10 (20mm configuration)
572 -* CGE-10-10 (40mm configuration)
573 -* CGE-10-10 (60mm configuration)
574 574  
575 -**COM Port**
128 + # RGB LED
576 576  
577 -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"
578 578  
579 -**Baudrate**
132 + LED_BLINKING = "QLB"
580 580  
581 -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"
582 582  
583 -**Initialize**
584 584  
585 -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
586 586  
587 -**Connect**
139 + ORIGIN_OFFSET = "QO"
588 588  
589 -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"
590 590  
591 -**Speed**
143 + ANGULAR_ACCELERATION = "QAA"
592 592  
593 -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"
594 594  
595 -**Force**
147 + GYRE_DIRECTION = "QG"
596 596  
597 -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"
598 598  
599 -**Open / Close**
151 + MAX_SPEED_RPM = "QSR"
600 600  
601 -These are shortcut buttons to either fully open or fully close the gripper.
602 602  
603 -**Sequencer**
154 + Conf:
604 604  
605 -The sequencer displays the gripper position as joint 7 (J7).
156 + # Communication setup
606 606  
607 -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"
608 608  
609 -== 3D Model ==
160 + ENABLE_CAN_TERMINAL = "CET"
610 610  
611 -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"
612 612  
613 -**View Controls**
164 + # Motion setup
614 614  
615 -Zoom: Shift + Middle Scroll
166 + MAX_SPEED_DEGREES = "CSD"
616 616  
617 -Rotate: Shift + Middle Mouse
168 + MAX_SPEED_RPM = "CSR"
618 618  
619 -Pan: None
170 + ORIGIN_OFFSET = "CO"
620 620  
621 -== Manual Move ==
172 + ANGULAR_RANGE = "CAR"
622 622  
623 -**Angular Control**
174 + ANGULAR_ACCELERATION = "CAA"
624 624  
625 -In angular mode, the user can control the angle of each joint
176 + ANGULAR_DECELERATION = "CAD"
626 626  
627 -**Coordinates Control**
178 + GYRE_DIRECTION = "CG"
628 628  
629 -In coordinate control the user can control the cartesian position of the end effector
180 + # RGB LED
630 630  
631 -**End Effector Lock**
182 + LED_COLOR = "CLED"
632 632  
633 -The orientation of the end effector can be locked.
184 + LED_BLINKING = "CLB"
634 634  
635 -== Direct Command ==
636 636  
637 -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:
638 638  
639 -A few things to keep in mind when using this:
189 + SPEED = "SD"
640 640  
641 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
642 -* Sending commands does not require ‘#’ and ‘\r’ chars.
643 -** example for #2\r you should enter 2Q and press the "SEND" button
644 -* The commands are validated, and it shows a notification in case of error.
645 -* The replies of queries are shown in the text field below.
646 -
647 -== Command Output ==
648 -
649 -//{Coming Soon}//
650 -
651 -== Telemetry ==
652 -
653 -**Data to Display**
654 -
655 -//{Coming Soon}//
656 -
657 -**Display / Hide Actuator**
658 -
659 -//{Coming Soon}//
660 -
661 -== Sequencer ==
662 -
663 -**Frames**
664 -
665 -//{Coming Soon}//
666 -
667 -**Record **
668 -
669 -//{Coming Soon}//
670 -
671 -**Edit **
672 -
673 -Time, angles, gripper
674 -
675 -//Alt + Left Click = Drag time//
676 -
677 -**Reorder**
678 -
679 -//{Coming Soon}//
680 -
681 -**Play**
682 -
683 -//{Coming Soon}//
684 -
685 -**Errors**
686 -
687 -//{Coming Soon}//
688 -{{/comment}}
191 +* ** TIME = "T"**
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