Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 60.1 >
edited by Eric Nantel
on 2024/10/16 13:34
To version < 65.2 >
edited by Eric Nantel
on 2024/10/16 13:46
< >
Change comment: There is no comment for this version

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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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