Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 59.1 >
edited by Eric Nantel
on 2024/10/16 13:33
To version < 70.2 >
edited by Eric Nantel
on 2024/10/16 13:54
< >
Change comment: There is no comment for this version

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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 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.
34 +| |(% style="text-align:center; vertical-align:middle; width:150px" %)[[image:ses-pro-robotic-arm-ui-info.png]]|Pressing the i "Information" icon in the software will bring you to this page.
35 35  | |(% colspan="2" rowspan="1" %)(((
36 36  == IMPORTANT ==
37 37  )))
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106 106  
107 107  The software currently supports two models of Lynxmotion PRO compatible grippers based on DH Robots' PGE-50-40 and CGE-10-10 electric grippers. The Lynxmotion kits include hardware to mount the fingers in multiple different offsets for smaller or larger objects. In the sequencer, the position of the fingers for each gripper are included in the sequencer as G.
108 108  )))
109 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
109 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-version.png]]|(((
110 110  * PGE-50-40 (40mm default configuration)
111 111  * PGE-50-40 (60mm configuration)
112 112  * PGE-50-40 (80mm configuration)
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114 114  * CGE-10-10 (40mm configuration)
115 115  * CGE-10-10 (60mm configuration)
116 116  )))
117 -| |(% style="text-align:center; vertical-align:middle" %) |(((
117 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]|(((
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
121 121  )))
122 -| |(% style="text-align:center; vertical-align:middle" %) |(((
122 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]|(((
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.
126 126  )))
127 -| |(% style="text-align:center; vertical-align:middle" %) |(((
127 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-connect.png]]|(((
128 +**Connect**
129 +
130 +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.
131 +)))
132 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-init.png]]|(((
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.
136 +
137 +(((
138 +
131 131  )))
132 -| |(% style="text-align:center; vertical-align:middle" %) |(((
133 -**Connect**
140 +)))
141 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]|(((
142 +**Position**
134 134  
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.
144 +
136 136  )))
137 -| |(% style="text-align:center; vertical-align:middle" %) |(((
146 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-speed.png]]|(((
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.
141 141  )))
142 -| |(% style="text-align:center; vertical-align:middle" %) |(((
151 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]|(((
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.
146 146  )))
147 -| |(% style="text-align:center; vertical-align:middle" %) |(((
156 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-open-close.png]]|(((
148 148  **Open / Close**
149 149  
150 150  These are shortcut buttons to either fully open or fully close the gripper.
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154 154  
155 155  The sequencer displays the gripper position as joint G.
156 156  
166 +Ex: #GP1000
167 +This command would be open the **G**ripper to **P**osition 100.0%
168 +
157 157  HINT: If you want the gripper to open or close on an object only at the end of a motion, create a separate frame where only G moves.
158 158  )))
159 159  | |(% colspan="2" rowspan="1" %)(((
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162 162  | |(% colspan="2" rowspan="1" %)(((
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.
164 164  )))
165 -| |(% style="text-align:center; vertical-align:middle" %) |(((
177 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-3d.png]]|(((
166 166  **View Controls**
167 167  
168 168  Zoom: Shift + Middle Scroll
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174 174  | |(% colspan="2" rowspan="1" %)(((
175 175  == Manual Move ==
176 176  )))
177 -| |(% style="text-align:center; vertical-align:middle" %) |(((
178 -**Angular Control**
189 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((
190 +**Joints Control (angular)**
179 179  
180 -In angular mode, the user can control the angle of each joint
192 +In Joints mode, the user can control the angle of each joint.
193 +
194 +* The field can be clicked and changed using a keyboard.
195 +* Using the + and - sings will move by the amount specified in the drop down menu.
196 +* The RESET button will send the arm to Zero on all joints
181 181  )))
182 -| |(% style="text-align:center; vertical-align:middle" %) |(((
198 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates.png]]|(((
183 183  **Coordinates Control**
184 184  
185 185  In coordinate control the user can control the cartesian position of the end effector
186 186  )))
187 -| |(% style="text-align:center; vertical-align:middle" %) |(((
203 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates-lock.png]]|(((
188 188  **End Effector Lock**
189 189  
190 -The orientation of the end effector can be locked.
206 +The orientation of the end effector can be locked with the "ENABLED" button.
191 191  )))
192 192  | |(% colspan="2" rowspan="1" %)(((
193 193  == Direct Command ==
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