Changes for page SES-PRO Robotic Arm UI
Last modified by Eric Nantel on 2024/10/16 14:33
Change comment: Uploaded new attachment "ses-pro-robotic-arm-ui-arm-version.png", version {1}
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... ... @@ -101,12 +101,130 @@ 101 101 | |(% colspan="2" rowspan="1" %)((( 102 102 == Gripper Controls == 103 103 ))) 104 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|((( 104 +| |(% style="text-align:center; vertical-align:middle" %) | 105 +| |(% style="text-align:center; vertical-align:middle" %) | 106 +| |(% style="text-align:center; vertical-align:middle" %) | 107 +| |(% style="text-align:center; vertical-align:middle" %) | 108 +| |(% style="text-align:center; vertical-align:middle" %) | 109 +| |(% style="text-align:center; vertical-align:middle" %) | 110 +| |(% style="text-align:center; vertical-align:middle" %) | 111 +| |(% style="text-align:center; vertical-align:middle" %) | 112 +| |(% style="text-align:center; vertical-align:middle" %) | 113 +| |(% style="text-align:center; vertical-align:middle" %) | 114 +| |(% style="text-align:center; vertical-align:middle" %) | 115 +| |(% style="text-align:center; vertical-align:middle" %) | 116 +| |(% style="text-align:center; vertical-align:middle" %) | 117 +| |(% style="text-align:center; vertical-align:middle" %) | 118 +| |(% style="text-align:center; vertical-align:middle" %) | 119 +| |(% style="text-align:center; vertical-align:middle" %) | 120 +| |(% style="text-align:center; vertical-align:middle" %) | 121 +| |(% style="text-align:center; vertical-align:middle" %) | 122 +| |(% style="text-align:center; vertical-align:middle" %) | 123 +| |(% style="text-align:center; vertical-align:middle" %) | 124 +| |(% style="text-align:center; vertical-align:middle" %) | 125 +| |(% style="text-align:center; vertical-align:middle" %) | 126 +| |(% style="text-align:center; vertical-align:middle" %) | 127 +| |(% style="text-align:center; vertical-align:middle" %) | 128 +| |(% style="text-align:center; vertical-align:middle" %) | 129 +| |(% style="text-align:center; vertical-align:middle" %) | 130 +| |(% style="text-align:center; vertical-align:middle" %) | 131 +| |(% style="text-align:center; vertical-align:middle" %) | 132 +| |(% style="text-align:center; vertical-align:middle" %) | 133 +| |(% style="text-align:center; vertical-align:middle" %) | 134 +| |(% style="text-align:center; vertical-align:middle" %) | 135 +| |(% style="text-align:center; vertical-align:middle" %) | 136 +| |(% style="text-align:center; vertical-align:middle" %) | 137 +| |(% style="text-align:center; vertical-align:middle" %) | 138 + 139 +|(% colspan="2" %)((( 140 += User Guide = 141 +))) 142 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 143 +Before proceeding with the guide, it is important to note the following: 144 + 145 +* 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 146 +* 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 147 + 148 +Pressing the i "Information" icon in the software will bring you to this page. 149 + 150 +[[image:ses-pro-robotic-arm-ui-info.png]] 151 +))) 152 +|(% colspan="2" %)((( 153 +== IMPORTANT == 154 +))) 155 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 156 +=== Payload Considerations === 157 + 158 +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. 159 +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. 160 +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. 161 +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". 162 +))) 163 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 164 +=== Emergency === 165 + 166 +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: 167 + 168 +**Halt (and hold)** 169 + 170 +**[[image:ses-pro-robotic-arm-ui-halt.png]]** 171 + 172 +This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>. 173 + 174 +**Limp** 175 + 176 +**[[image:ses-pro-robotic-arm-ui-limp.png]]** 177 + 178 +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>. 179 + 180 +**Software E-Stop** 181 + 182 +**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]** 183 + 184 +The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall. 185 + 186 +**Power Supply E-Stop** 187 +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. 188 +))) 189 +|(% colspan="2" %)((( 190 +== Arm Connection == 191 +))) 192 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 105 105 **Model** 106 106 107 -The software currently supports two models of Lynxmotion PRO compatible grippers based on DH Robots' PGE-50-40 and CGE-10-10 electric grippers. The Lynxmotion kits include hardware to mount the fingers in multiple different offsets for smaller or larger objects. In the sequencer, the position of the fingers for each gripper are included in the sequencer as G. 195 +**[[image:ses-pro-robotic-arm-ui-arm-version.png]]** 196 + 197 +The software currently supports the following Lynxmotion PRO Arms: 198 + 199 +* 550mm 5DoF 200 +* 550mm 6DoF 201 +* 900mm 5DoF 202 +* 900mm 6DoF 203 + 204 +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. 205 + 206 +**COM Port** 207 + 208 +**[[image:ses-pro-robotic-arm-ui-com.png]]** 209 + 210 +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. 211 + 212 +**Connect / Disconnect** 213 + 214 +[[image:ses-pro-robotic-arm-ui-connect.png]] 215 + 216 +[[image:ses-pro-robotic-arm-ui-disconnect.png]] 217 + 218 +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. 108 108 ))) 109 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|((( 220 +|(% colspan="2" %)((( 221 +== Gripper Controls == 222 +))) 223 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 224 +**Model** 225 + 226 +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. 227 + 110 110 * PGE-50-40 (40mm default configuration) 111 111 * PGE-50-40 (60mm configuration) 112 112 * PGE-50-40 (80mm configuration) ... ... @@ -113,56 +113,47 @@ 113 113 * CGE-10-10 (20mm configuration) 114 114 * CGE-10-10 (40mm configuration) 115 115 * CGE-10-10 (60mm configuration) 116 -))) 117 -| |(% style="text-align:center; vertical-align:middle" %) |((( 234 + 118 118 **COM Port** 119 119 120 120 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" %) |((( 238 + 123 123 **Baudrate** 124 124 125 125 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" %) |((( 242 + 128 128 **Initialize** 129 129 130 130 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" %) |((( 246 + 133 133 **Connect** 134 134 135 135 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" %) |((( 250 + 138 138 **Speed** 139 139 140 140 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" %) |((( 254 + 143 143 **Force** 144 144 145 145 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" %) |((( 258 + 148 148 **Open / Close** 149 149 150 150 These are shortcut buttons to either fully open or fully close the gripper. 151 -))) 152 -| |(% style="text-align:center; vertical-align:middle" %) |((( 262 + 153 153 **Sequencer** 154 154 155 -The sequencer displays the gripper position as joint G.265 +The sequencer displays the gripper position as joint 7 (J7). 156 156 157 -HINT: If you want the gripper to open or close on an object only at the end of a motion, create a separate frame where only Gmoves.267 +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. 158 158 ))) 159 -| |(% colspan="2"rowspan="1"%)(((269 +|(% colspan="2" %)((( 160 160 == 3D Model == 161 161 ))) 162 -| |(%colspan="2"rowspan="1" %)(((272 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 163 163 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" %) |((( 274 + 166 166 **View Controls** 167 167 168 168 Zoom: Shift + Middle Scroll ... ... @@ -171,42 +171,46 @@ 171 171 172 172 Pan: None 173 173 ))) 174 -| |(% colspan="2"rowspan="1"%)(((283 +|(% colspan="2" %)((( 175 175 == Manual Move == 176 176 ))) 177 -| |(% style="text-align:center; vertical-align:middle" %)|(((286 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 178 178 **Angular Control** 179 179 180 180 In angular mode, the user can control the angle of each joint 181 -))) 182 -| |(% style="text-align:center; vertical-align:middle" %) |((( 290 + 183 183 **Coordinates Control** 184 184 185 185 In coordinate control the user can control the cartesian position of the end effector 186 -))) 187 -| |(% style="text-align:center; vertical-align:middle" %) |((( 294 + 188 188 **End Effector Lock** 189 189 190 190 The orientation of the end effector can be locked. 191 191 ))) 192 -| |(% colspan="2"rowspan="1"%)(((299 +|(% colspan="2" %)((( 193 193 == Direct Command == 194 194 ))) 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/]]302 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 303 +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. 197 197 198 198 A few things to keep in mind when using this: 199 199 200 -* Make sure you know what you are doing as you can make the arm move in 307 +* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways. 201 201 * Sending commands does not require ‘#’ and ‘\r’ chars. 202 202 ** example for #2\r you should enter 2Q and press the "SEND" button 203 203 * The commands are validated, and it shows a notification in case of error. 204 204 * The replies of queries are shown in the text field below. 205 205 ))) 206 -| |(% colspan="2" rowspan="1" %)((( 313 +|(% colspan="2" %)((( 314 +== Command Output == 315 +))) 316 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 317 +//{Coming Soon}// 318 +))) 319 +|(% colspan="2" %)((( 207 207 == Telemetry == 208 208 ))) 209 -| |(% style="text-align:center; vertical-align:middle" %)|(((322 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 210 210 **Data to Display** 211 211 212 212 Various telemetry data can be retrieved from each actuators / joints, here is what the software support: ... ... @@ -222,121 +222,116 @@ 222 222 * MCU Temperature 223 223 * PCB Temperature 224 224 * Probe Temperature 225 -))) 226 -| |(% style="text-align:center; vertical-align:middle" %) |((( 338 + 227 227 **Display / Hide ** 228 228 229 229 At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph. 230 230 ))) 231 -| |(% colspan="2"rowspan="1" %)(((343 +|(% colspan="2" style="width:26px" %)((( 232 232 == Sequencer == 233 233 ))) 234 -| |(% colspan="2" rowspan="1" %)**Sequence** 235 -| |(% style="text-align:center; vertical-align:middle" %) |((( 236 -**Sequence Selector** 346 +|(% style="width:26px" %) |(% style="width:1452px" %)((( 347 +**Sequence** 237 237 238 - 239 -))) 240 -| |(% style="text-align:center; vertical-align:middle" %) |((( 241 -**Add** 349 +Add 242 242 243 - 244 -))) 245 -| |(% style="text-align:center; vertical-align:middle" %) |((( 246 -**Substract** 351 +Substract 247 247 248 - 249 -))) 250 -| |(% style="text-align:center; vertical-align:middle" %) |((( 251 -**Copy** 353 +Copy 252 252 253 - 254 -))) 255 -| |(% style="text-align:center; vertical-align:middle" %) |((( 256 -**Save** 355 +Save 257 257 258 - 259 -))) 260 -| |(% style="text-align:center; vertical-align:middle" %) |((( 261 -**Open** 357 +Open 262 262 263 - 264 -))) 265 -| |(% style="text-align:center; vertical-align:middle" %) |((( 266 -**Delete** 359 +Delete 267 267 268 - 269 -))) 270 -| |(% colspan="2" rowspan="1" %)**Frames** 271 -| |(% style="text-align:center; vertical-align:middle" %) |((( 272 -**Add** 361 +//{Coming Soon}// 273 273 274 - 275 -))) 276 -| |(% style="text-align:center; vertical-align:middle" %) |((( 277 -**Sequence Selector** 363 +**Frames** 278 278 279 - 280 -))) 281 -| |(% style="text-align:center; vertical-align:middle" %) |((( 282 -**Record** 365 +Add 283 283 284 - 285 -))) 286 -| |(% style="text-align:center; vertical-align:middle" %) |((( 287 -**Delete** 367 +Sequence Selector 288 288 289 - 290 -))) 291 -| |(% style="text-align:center; vertical-align:middle" %) |((( 292 -**Copy** 369 +Record 293 293 294 - 295 -))) 296 -| |(% style="text-align:center; vertical-align:middle" %) |((( 297 -**Paste** 371 +Delete 298 298 299 - 300 -))) 301 -| |(% style="text-align:center; vertical-align:middle" %) |((( 302 -**Swap** 373 +Copy 303 303 304 - 305 -))) 306 -| |(% style="text-align:center; vertical-align:middle" %) |((( 307 -**Frame Name** 375 +Paste 308 308 309 - 310 -))) 311 -| |(% style="text-align:center; vertical-align:middle" %) |((( 312 -**Frame length** 377 +Swap 313 313 379 +Manual Edit 380 + 381 +Time, angles, gripper 382 + 383 +Moving Frames 384 + 314 314 //Alt + Left Click = Drag time// 315 -))) 316 -| |(% style="text-align:center; vertical-align:middle" %) |((( 317 -**Frame Move** 318 318 319 - 320 -))) 321 -| |(% style="text-align:center; vertical-align:middle" %) |((( 322 -**Loop** 387 +//{Coming Soon}// 323 323 324 - 325 -))) 326 -| |(% style="text-align:center; vertical-align:middle" %) |((( 327 -**Manual Edit** 389 +**Errors** 328 328 329 - Time, angles,gripper391 +//{Coming Soon}// 330 330 ))) 331 -| |(% style="text-align:center; vertical-align:middle" %) |((( 332 -**Zoom** 393 +|(% style="width:26px" %) |(% style="width:1452px" %) 394 +|(% style="width:26px" %) |(% style="width:1452px" %) 395 +|(% style="width:26px" %) |(% style="width:1452px" %) 396 +|(% style="width:26px" %) |(% style="width:1452px" %) 397 +|(% style="width:26px" %) |(% style="width:1452px" %) 398 +|(% style="width:26px" %) |(% style="width:1452px" %) 399 +|(% style="width:26px" %) |(% style="width:1452px" %) 400 +|(% style="width:26px" %) |(% style="width:1452px" %) 401 +|(% style="width:26px" %) |(% style="width:1452px" %) 402 +|(% style="width:26px" %) |(% style="width:1452px" %) 403 +|(% style="width:26px" %) |(% style="width:1452px" %) 404 +|(% style="width:26px" %) |(% style="width:1452px" %) 405 +|(% style="width:26px" %) |(% style="width:1452px" %) 406 +|(% style="width:26px" %) |(% style="width:1452px" %) 407 +|(% style="width:26px" %) |(% style="width:1452px" %) 408 +|(% style="width:26px" %) |(% style="width:1452px" %) 409 +|(% style="width:26px" %) |(% style="width:1452px" %) 410 +|(% style="width:26px" %) |(% style="width:1452px" %) 411 +|(% style="width:26px" %) |(% style="width:1452px" %) 412 +|(% style="width:26px" %) |(% style="width:1452px" %) 413 +|(% style="width:26px" %) |(% style="width:1452px" %) 414 +|(% style="width:26px" %) |(% style="width:1452px" %) 415 +|(% style="width:26px" %) |(% style="width:1452px" %) 416 +|(% style="width:26px" %) |(% style="width:1452px" %) 417 +|(% style="width:26px" %) |(% style="width:1452px" %) 418 +|(% style="width:26px" %) |(% style="width:1452px" %) 419 +|(% style="width:26px" %) |(% style="width:1452px" %) 420 +|(% style="width:26px" %) |(% style="width:1452px" %) 421 +|(% style="width:26px" %) |(% style="width:1452px" %) 422 +|(% style="width:26px" %) |(% style="width:1452px" %) 423 +|(% style="width:26px" %) |(% style="width:1452px" %) 424 +|(% style="width:26px" %) |(% style="width:1452px" %) 425 +|(% style="width:26px" %) |(% style="width:1452px" %) 426 +|(% style="width:26px" %) |(% style="width:1452px" %) 427 +|(% style="width:26px" %) |(% style="width:1452px" %) 428 +|(% style="width:26px" %) |(% style="width:1452px" %) 429 +|(% style="width:26px" %) |(% style="width:1452px" %) 430 +|(% style="width:26px" %) |(% style="width:1452px" %) 431 +|(% style="width:26px" %) |(% style="width:1452px" %) 432 +|(% style="width:26px" %) |(% style="width:1452px" %) 433 +|(% style="width:26px" %) |(% style="width:1452px" %) 434 +|(% style="width:26px" %) |(% style="width:1452px" %) 435 +|(% style="width:26px" %) |(% style="width:1452px" %) 436 +|(% style="width:26px" %) |(% style="width:1452px" %) 437 +|(% style="width:26px" %) |(% style="width:1452px" %) 438 +|(% style="width:26px" %) |(% style="width:1452px" %) 439 +|(% style="width:26px" %) |(% style="width:1452px" %) 440 +|(% style="width:26px" %) |(% style="width:1452px" %) 441 +|(% style="width:26px" %) |(% style="width:1452px" %) 442 +|(% style="width:26px" %) |(% style="width:1452px" %) 443 +|(% style="width:26px" %) |(% style="width:1452px" %) 444 +|(% style="width:26px" %) |(% style="width:1452px" %) 445 +|(% style="width:26px" %) |(% style="width:1452px" %) 446 +|(% style="width:26px" %) |(% style="width:1452px" %) 333 333 334 - 335 -))) 336 -| |(% colspan="2" rowspan="1" %)**Errors** 337 -| |(% style="text-align:center; vertical-align:middle" %) | 338 -| |(% style="text-align:center; vertical-align:middle" %) | 339 - 340 340 {{comment}} 341 341 = = 342 342