Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 54.1 >
edited by Eric Nantel
on 2024/10/16 13:08
To version < 23.1 >
edited by Coleman Benson
on 2024/10/08 18:19
< >
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  
... ... @@ -8,7 +8,7 @@
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.
11 +The Lynxmotion Servo Erector Set Professional (SES PRO) Arm Interface 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  
... ... @@ -19,334 +19,13 @@
19 19  * Command output and user input
20 20  * Safety (Software E-Stop, Halt&Hold & Limp)
21 21  
22 -__Compatibility: Windows 7 Operating System or above__
23 -
24 -
25 -|(% colspan="3" %)(((
26 26  = User Guide =
27 -)))
28 -|(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
23 +
29 29  Before proceeding with the guide, it is important to note the following:
30 30  
31 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 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 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 G.
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 G.
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 G 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
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 -| |(% colspan="2" rowspan="1" %)(((
207 -== Telemetry ==
208 -)))
209 -| |(% style="text-align:center; vertical-align:middle" %) |(((
210 -**Data to Display**
211 -
212 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
213 -
214 -* Position
215 -* Current
216 -* Linear Accel X
217 -* Linear Accel Y
218 -* Linear Accel Z
219 -* Angular Accel α
220 -* Angular Accel β
221 -* Angular Accel γ
222 -* MCU Temperature
223 -* PCB Temperature
224 -* Probe Temperature
225 -)))
226 -| |(% style="text-align:center; vertical-align:middle" %) |(((
227 -**Display / Hide **
228 -
229 -At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
230 -)))
231 -| |(% colspan="2" rowspan="1" %)(((
232 -== Sequencer ==
233 -)))
234 -| |(% colspan="2" rowspan="1" %)**Sequence**
235 -| |(% style="text-align:center; vertical-align:middle" %) |(((
236 -**Sequence Selector**
237 -
238 -
239 -)))
240 -| |(% style="text-align:center; vertical-align:middle" %) |(((
241 -**Add**
242 -
243 -
244 -)))
245 -| |(% style="text-align:center; vertical-align:middle" %) |(((
246 -**Substract**
247 -
248 -
249 -)))
250 -| |(% style="text-align:center; vertical-align:middle" %) |(((
251 -**Copy**
252 -
253 -
254 -)))
255 -| |(% style="text-align:center; vertical-align:middle" %) |(((
256 -**Save**
257 -
258 -
259 -)))
260 -| |(% style="text-align:center; vertical-align:middle" %) |(((
261 -**Open**
262 -
263 -
264 -)))
265 -| |(% style="text-align:center; vertical-align:middle" %) |(((
266 -**Delete**
267 -
268 -
269 -)))
270 -| |(% colspan="2" rowspan="1" %)**Frames**
271 -| |(% style="text-align:center; vertical-align:middle" %) |(((
272 -**Add**
273 -
274 -
275 -)))
276 -| |(% style="text-align:center; vertical-align:middle" %) |(((
277 -**Sequence Selector**
278 -
279 -
280 -)))
281 -| |(% style="text-align:center; vertical-align:middle" %) |(((
282 -**Record**
283 -
284 -
285 -)))
286 -| |(% style="text-align:center; vertical-align:middle" %) |(((
287 -**Delete**
288 -
289 -
290 -)))
291 -| |(% style="text-align:center; vertical-align:middle" %) |(((
292 -**Copy**
293 -
294 -
295 -)))
296 -| |(% style="text-align:center; vertical-align:middle" %) |(((
297 -**Paste**
298 -
299 -
300 -)))
301 -| |(% style="text-align:center; vertical-align:middle" %) |(((
302 -**Swap**
303 -
304 -
305 -)))
306 -| |(% style="text-align:center; vertical-align:middle" %) |(((
307 -**Frame Name**
308 -
309 -
310 -)))
311 -| |(% style="text-align:center; vertical-align:middle" %) |(((
312 -**Frame length**
313 -
314 -//Alt + Left Click = Drag time//
315 -)))
316 -| |(% style="text-align:center; vertical-align:middle" %) |(((
317 -**Frame Move**
318 -
319 -
320 -)))
321 -| |(% style="text-align:center; vertical-align:middle" %) |(((
322 -**Loop**
323 -
324 -
325 -)))
326 -| |(% style="text-align:center; vertical-align:middle" %) |(((
327 -**Manual Edit**
328 -
329 -Time, angles, gripper
330 -)))
331 -| |(% style="text-align:center; vertical-align:middle" %) |(((
332 -**Zoom**
333 -
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 -
340 -{{comment}}
341 -= =
342 -
343 -= User Guide =
344 -
345 -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:
346 -
347 -* 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
348 -* 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
349 -
350 350  == IMPORTANT: Payload Considerations ==
351 351  
352 352  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.
... ... @@ -359,11 +359,9 @@
359 359  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:
360 360  
361 361  **Halt & Hold**
362 -
363 363  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
364 364  
365 365  **Limp**
366 -
367 367  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>.
368 368  
369 369  **Software Stop**
... ... @@ -377,70 +377,48 @@
377 377  
378 378  **Model**
379 379  
380 -The software currently supports the following Lynxmotion PRO Arms:
57 +The software currently supports the Lynxmotion PRO 550mm 5 degree of freedom (5 DoF), 550mm 6DoF, 900mm 5DoF and 900mm 6DoF robotic arm configurations. In practice, each 5DoF has joint 4 at a fixed angle.
381 381  
382 -* 550mm 5DoF
383 -* 550mm 6DoF
384 -* 900mm 5DoF
385 -* 900mm 6DoF
59 +**Serial COM Port**
386 386  
387 -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.
388 -
389 -**COM Port**
390 -
391 391  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. 
392 392  
393 393  **Connect**
394 394  
395 -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.
65 +== Gripper Connection ==
396 396  
397 -== Gripper Controls ==
398 -
399 399  **Model**
400 400  
401 401  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.
402 402  
403 -* PGE-50-40 (40mm default configuration)
404 -* PGE-50-40 (60mm configuration)
405 -* PGE-50-40 (80mm configuration)
406 -* CGE-10-10 (20mm configuration)
407 -* CGE-10-10 (40mm configuration)
408 -* CGE-10-10 (60mm configuration)
71 +**Serial COM Port**
409 409  
410 -**COM Port**
73 +//{Coming Soon}//
411 411  
412 -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
413 -
414 414  **Baudrate**
415 415  
416 -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.
77 +//{Coming Soon}//
417 417  
418 -**Initialize**
79 +**Connect**
419 419  
420 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
81 +//{Coming Soon}//
421 421  
422 -**Connect**
83 +**Calibrate**
423 423  
424 -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.
85 +//{Coming Soon}//
425 425  
426 426  **Speed**
427 427  
428 -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.
89 +//{Coming Soon}//
429 429  
430 430  **Force**
431 431  
432 -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.
93 +//{Coming Soon}//
433 433  
434 434  **Open / Close**
435 435  
436 -These are shortcut buttons to either fully open or fully close the gripper.
97 +//{Coming Soon}//
437 437  
438 -**Sequencer**
439 -
440 -The sequencer displays the gripper position as joint 7 (J7).
441 -
442 -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.
443 -
444 444  == 3D Model ==
445 445  
446 446  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.
... ... @@ -447,12 +447,8 @@
447 447  
448 448  **View Controls**
449 449  
450 -Zoom: Shift + Middle Scroll
105 +//{Coming Soon}//
451 451  
452 -Rotate: Shift + Middle Mouse
453 -
454 -Pan: None
455 -
456 456  == Manual Move ==
457 457  
458 458  **Angular Control**
... ... @@ -493,7 +493,7 @@
493 493  
494 494  //{Coming Soon}//
495 495  
496 -== Sequencer ==
147 +== Sequencer ==
497 497  
498 498  **Frames**
499 499  
... ... @@ -507,7 +507,7 @@
507 507  
508 508  Time, angles, gripper
509 509  
510 -//Alt + Left Click = Drag time//
161 +//{Coming Soon}//
511 511  
512 512  **Reorder**
513 513  
... ... @@ -520,4 +520,3 @@
520 520  **Errors**
521 521  
522 522  //{Coming Soon}//
523 -{{/comment}}
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Copyright RobotShop 2018