Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 53.1 >
edited by Eric Nantel
on 2024/10/16 12:46
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  
... ... @@ -8,707 +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 -| |(% colspan="2" rowspan="1" %)(((
175 -== Manual Move ==
176 -)))
177 -| |(% style="text-align:center; vertical-align:middle" %) |(((
178 -**Angular Control**
179 -
180 -In angular mode, the user can control the angle of each joint
181 -)))
182 -| |(% style="text-align:center; vertical-align:middle" %) |(((
183 -**Coordinates Control**
184 -
185 -In coordinate control the user can control the cartesian position of the end effector
186 -)))
187 -| |(% style="text-align:center; vertical-align:middle" %) |(((
188 -**End Effector Lock**
189 -
190 -The orientation of the end effector can be locked.
191 -)))
192 -| |(% colspan="2" rowspan="1" %)(((
193 -== Direct Command ==
194 -)))
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.
197 -
198 -A few things to keep in mind when using this:
199 -
200 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
201 -* Sending commands does not require ‘#’ and ‘\r’ chars.
202 -** 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.
203 203  * The commands are validated, and it shows a notification in case of error.
204 -* The replies of queries are shown in the text field below.
205 -)))
206 -| |(% style="text-align:center; vertical-align:middle" %) |
207 -| |(% style="text-align:center; vertical-align:middle" %) |
208 -| |(% style="text-align:center; vertical-align:middle" %) |
209 -| |(% style="text-align:center; vertical-align:middle" %) |
210 -| |(% style="text-align:center; vertical-align:middle" %) |
211 -| |(% style="text-align:center; vertical-align:middle" %) |
212 -| |(% style="text-align:center; vertical-align:middle" %) |
213 -| |(% style="text-align:center; vertical-align:middle" %) |
214 -| |(% style="text-align:center; vertical-align:middle" %) |
215 -| |(% style="text-align:center; vertical-align:middle" %) |
216 -| |(% style="text-align:center; vertical-align:middle" %) |
217 -| |(% style="text-align:center; vertical-align:middle" %) |
218 -| |(% style="text-align:center; vertical-align:middle" %) |
219 -| |(% style="text-align:center; vertical-align:middle" %) |
220 -| |(% style="text-align:center; vertical-align:middle" %) |
20 +* Supported commands:
221 221  
222 -|(% colspan="2" %)(((
223 -= User Guide =
224 -)))
225 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
226 -Before proceeding with the guide, it is important to note the following:
22 +Action:
227 227  
228 -* 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
229 -* 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
24 + # Communication setup
230 230  
231 -Pressing the i "Information" icon in the software will bring you to this page.
26 + RESET = "RESET"
232 232  
233 -[[image:ses-pro-robotic-arm-ui-info.png]]
234 -)))
235 -|(% colspan="2" %)(((
236 -== IMPORTANT ==
237 -)))
238 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
239 -=== Payload Considerations ===
28 + DEFAULT_CONFIGURATION = "DEFAULT"
240 240  
241 -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.
242 -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.
243 -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.
244 -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".
245 -)))
246 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
247 -=== Emergency ===
30 + FIRMWARE_UPDATE_MODE = "UPDATE"
248 248  
249 -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:
32 + CONFIRM_CHANGES = "CONFIRM"
250 250  
251 -**Halt (and hold)**
34 + # Motion
252 252  
253 -**[[image:ses-pro-robotic-arm-ui-halt.png]]**
36 + POSITION = "D"
254 254  
255 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
38 + MOVE_DEGREES = "MD"
256 256  
257 -**Limp**
40 + WHEEL_MODE_DEGREES = "WD"
258 258  
259 -**[[image:ses-pro-robotic-arm-ui-limp.png]]**
42 + WHEEL_MODE_RPM = "WR"
260 260  
261 -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>.
44 + HALT_AND_HOLD = "H"
262 262  
263 -**Software E-Stop**
46 + LIMP = "L"
264 264  
265 -**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
48 + # Motion setup
266 266  
267 -The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
50 + ORIGIN_OFFSET = "O"
268 268  
269 -**Power Supply E-Stop**
270 -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.
271 -)))
272 -|(% colspan="2" %)(((
273 -== Arm Connection ==
274 -)))
275 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
276 -**Model**
52 + ANGULAR_RANGE = "AR"
277 277  
278 -**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
54 + ANGULAR_ACCELERATION = "AA"
279 279  
280 -The software currently supports the following Lynxmotion PRO Arms:
56 + ANGULAR_DECELERATION = "AD"
281 281  
282 -* 550mm 5DoF
283 -* 550mm 6DoF
284 -* 900mm 5DoF
285 -* 900mm 6DoF
58 + GYRE_DIRECTION = "G"
286 286  
287 -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.
60 + MAX_SPEED_DEGREES = "SD"
288 288  
289 -**COM Port**
62 + MAX_SPEED_RPM = "SR"
290 290  
291 -**[[image:ses-pro-robotic-arm-ui-com.png]]**
64 + # RGB LED
292 292  
293 -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. 
66 + LED_COLOR = "LED"
294 294  
295 -**Connect / Disconnect**
68 + Query:
296 296  
297 -[[image:ses-pro-robotic-arm-ui-connect.png]]
70 + # Communication setup
298 298  
299 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
72 + ID_NUMBER = "QID"
300 300  
301 -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.
302 -)))
303 -|(% colspan="2" %)(((
304 -== Gripper Controls ==
305 -)))
306 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
307 -**Model**
74 + ENABLE_CAN_TERMINAL = "QET"
308 308  
309 -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.
76 + USB_CONNECTION_STATUS = "QUC"
310 310  
311 -* PGE-50-40 (40mm default configuration)
312 -* PGE-50-40 (60mm configuration)
313 -* PGE-50-40 (80mm configuration)
314 -* CGE-10-10 (20mm configuration)
315 -* CGE-10-10 (40mm configuration)
316 -* CGE-10-10 (60mm configuration)
78 + # Motion
317 317  
318 -**COM Port**
80 + POSITION = "QD"
319 319  
320 -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
82 + WHEEL_MODE_DEGREES = "QWD"
321 321  
322 -**Baudrate**
84 + WHEEL_MODE_RPM = "QWR"
323 323  
324 -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.
86 + MOTION_STATUS = "Q"
325 325  
326 -**Initialize**
88 + MOTION_TIME = "QMT"
327 327  
328 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
90 + CURRENT_SPEED = "QCS"
329 329  
330 -**Connect**
331 331  
332 -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.
93 + # Telemetry
333 333  
334 -**Speed**
95 + MODEL_STRING = "QMS" 
335 335  
336 -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.
97 + FIRMWARE_VERSION = "QF" 
337 337  
338 -**Force**
99 + SERIAL_NUMBER = "QN" 
339 339  
340 -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.
101 + TEMP_CONTROLLER_ERROR = "QTCE" 
341 341  
342 -**Open / Close**
103 + TEMP_CONTROLLER_WARNING = "QTCW" 
343 343  
344 -These are shortcut buttons to either fully open or fully close the gripper.
105 + CURRENT = "QC"
345 345  
346 -**Sequencer**
107 + ACCX = "QIX"
347 347  
348 -The sequencer displays the gripper position as joint 7 (J7).
109 + ACCY = "QIY"
349 349  
350 -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.
351 -)))
352 -|(% colspan="2" %)(((
353 -== 3D Model ==
354 -)))
355 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
356 -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.
111 + ACCZ = "QIZ"
357 357  
358 -**View Controls**
113 + ACCALPHA = "QIA"
359 359  
360 -Zoom: Shift + Middle Scroll
115 + ACCBETA = "QIB"
361 361  
362 -Rotate: Shift + Middle Mouse
117 + ACCGAMMA = "QIG"
363 363  
364 -Pan: None
365 -)))
366 -|(% colspan="2" %)(((
367 -== Manual Move ==
368 -)))
369 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
370 -**Angular Control**
119 + TEMPMCU = "QTM"
371 371  
372 -In angular mode, the user can control the angle of each joint
121 + TEMPPROBE = "QTP"
373 373  
374 -**Coordinates Control**
123 + TEMPPCB = "QT"
375 375  
376 -In coordinate control the user can control the cartesian position of the end effector
125 + ERROR_FLAGS = "QEF"
377 377  
378 -**End Effector Lock**
379 379  
380 -The orientation of the end effector can be locked.
381 -)))
382 -|(% colspan="2" %)(((
383 -== Direct Command ==
384 -)))
385 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
386 -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.
128 + # RGB LED
387 387  
388 -A few things to keep in mind when using this:
130 + LED_COLOR = "QLED"
389 389  
390 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
391 -* Sending commands does not require ‘#’ and ‘\r’ chars.
392 -** example for #2\r you should enter 2Q and press the "SEND" button
393 -* The commands are validated, and it shows a notification in case of error.
394 -* The replies of queries are shown in the text field below.
395 -)))
396 -|(% colspan="2" %)(((
397 -== Command Output ==
398 -)))
399 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
400 -//{Coming Soon}//
401 -)))
402 -|(% colspan="2" %)(((
403 -== Telemetry ==
404 -)))
405 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
406 -**Data to Display**
132 + LED_BLINKING = "QLB"
407 407  
408 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
134 + LED_INDICATOR = "QLI"
409 409  
410 -* Position
411 -* Current
412 -* Linear Accel X
413 -* Linear Accel Y
414 -* Linear Accel Z
415 -* Angular Accel α
416 -* Angular Accel β
417 -* Angular Accel γ
418 -* MCU Temperature
419 -* PCB Temperature
420 -* Probe Temperature
421 421  
422 -**Display / Hide **
137 + # Motion setup
423 423  
424 -At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
425 -)))
426 -|(% colspan="2" style="width:26px" %)(((
427 -== Sequencer ==
428 -)))
429 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
430 -**Sequence**
139 + ORIGIN_OFFSET = "QO"
431 431  
432 -Add
141 + ANGULAR_RANGE = "QAR"
433 433  
434 -Substract
143 + ANGULAR_ACCELERATION = "QAA"
435 435  
436 -Copy
145 + ANGULAR_DECELERATION = "QAD"
437 437  
438 -Save
147 + GYRE_DIRECTION = "QG"
439 439  
440 -Open
149 + MAX_SPEED_DEGREES = "QSD"
441 441  
442 -Delete
151 + MAX_SPEED_RPM = "QSR"
443 443  
444 -//{Coming Soon}//
445 445  
446 -**Frames**
154 + Conf:
447 447  
448 -Add
156 + # Communication setup
449 449  
450 -Sequence Selector
158 + ID_NUMBER = "CID"
451 451  
452 -Record
160 + ENABLE_CAN_TERMINAL = "CET"
453 453  
454 -Delete
162 + USB_CONNECTION_STATUS = "CUC"
455 455  
456 -Copy
164 + # Motion setup
457 457  
458 -Paste
166 + MAX_SPEED_DEGREES = "CSD"
459 459  
460 -Swap
168 + MAX_SPEED_RPM = "CSR"
461 461  
462 -Manual Edit
170 + ORIGIN_OFFSET = "CO"
463 463  
464 -Time, angles, gripper
172 + ANGULAR_RANGE = "CAR"
465 465  
466 -Moving Frames
174 + ANGULAR_ACCELERATION = "CAA"
467 467  
468 -//Alt + Left Click = Drag time//
176 + ANGULAR_DECELERATION = "CAD"
469 469  
470 -//{Coming Soon}//
178 + GYRE_DIRECTION = "CG"
471 471  
472 -**Errors**
180 + # RGB LED
473 473  
474 -//{Coming Soon}//
475 -)))
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182 + LED_COLOR = "CLED"
530 530  
531 -{{comment}}
532 -= =
184 + LED_BLINKING = "CLB"
533 533  
534 -= User Guide =
535 535  
536 -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:
187 + Modifier:
537 537  
538 -* 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
539 -* 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
189 + SPEED = "SD"
540 540  
541 -== IMPORTANT: Payload Considerations ==
542 -
543 -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.
544 -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.
545 -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.
546 -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".
547 -
548 -== IMPORTANT: Emergency ==
549 -
550 -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:
551 -
552 -**Halt & Hold**
553 -
554 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
555 -
556 -**Limp**
557 -
558 -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>.
559 -
560 -**Software Stop**
561 -
562 -The E-stop button within the software sets all joints to limp.
563 -
564 -**Hardware E-Stop**
565 -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.
566 -
567 -== Arm Connection ==
568 -
569 -**Model**
570 -
571 -The software currently supports the following Lynxmotion PRO Arms:
572 -
573 -* 550mm 5DoF
574 -* 550mm 6DoF
575 -* 900mm 5DoF
576 -* 900mm 6DoF
577 -
578 -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.
579 -
580 -**COM Port**
581 -
582 -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. 
583 -
584 -**Connect**
585 -
586 -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.
587 -
588 -== Gripper Controls ==
589 -
590 -**Model**
591 -
592 -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.
593 -
594 -* PGE-50-40 (40mm default configuration)
595 -* PGE-50-40 (60mm configuration)
596 -* PGE-50-40 (80mm configuration)
597 -* CGE-10-10 (20mm configuration)
598 -* CGE-10-10 (40mm configuration)
599 -* CGE-10-10 (60mm configuration)
600 -
601 -**COM Port**
602 -
603 -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
604 -
605 -**Baudrate**
606 -
607 -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.
608 -
609 -**Initialize**
610 -
611 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
612 -
613 -**Connect**
614 -
615 -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.
616 -
617 -**Speed**
618 -
619 -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.
620 -
621 -**Force**
622 -
623 -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.
624 -
625 -**Open / Close**
626 -
627 -These are shortcut buttons to either fully open or fully close the gripper.
628 -
629 -**Sequencer**
630 -
631 -The sequencer displays the gripper position as joint 7 (J7).
632 -
633 -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.
634 -
635 -== 3D Model ==
636 -
637 -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.
638 -
639 -**View Controls**
640 -
641 -Zoom: Shift + Middle Scroll
642 -
643 -Rotate: Shift + Middle Mouse
644 -
645 -Pan: None
646 -
647 -== Manual Move ==
648 -
649 -**Angular Control**
650 -
651 -In angular mode, the user can control the angle of each joint
652 -
653 -**Coordinates Control**
654 -
655 -In coordinate control the user can control the cartesian position of the end effector
656 -
657 -**End Effector Lock**
658 -
659 -The orientation of the end effector can be locked.
660 -
661 -== Direct Command ==
662 -
663 -This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
664 -
665 -A few things to keep in mind when using this:
666 -
667 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
668 -* Sending commands does not require ‘#’ and ‘\r’ chars.
669 -** example for #2\r you should enter 2Q and press the "SEND" button
670 -* The commands are validated, and it shows a notification in case of error.
671 -* The replies of queries are shown in the text field below.
672 -
673 -== Command Output ==
674 -
675 -//{Coming Soon}//
676 -
677 -== Telemetry ==
678 -
679 -**Data to Display**
680 -
681 -//{Coming Soon}//
682 -
683 -**Display / Hide Actuator**
684 -
685 -//{Coming Soon}//
686 -
687 -== Sequencer ==
688 -
689 -**Frames**
690 -
691 -//{Coming Soon}//
692 -
693 -**Record **
694 -
695 -//{Coming Soon}//
696 -
697 -**Edit **
698 -
699 -Time, angles, gripper
700 -
701 -//Alt + Left Click = Drag time//
702 -
703 -**Reorder**
704 -
705 -//{Coming Soon}//
706 -
707 -**Play**
708 -
709 -//{Coming Soon}//
710 -
711 -**Errors**
712 -
713 -//{Coming Soon}//
714 -{{/comment}}
191 +* ** TIME = "T"**
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