Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 64.1 >
edited by Eric Nantel
on 2024/10/16 13:41
To version < 76.1 >
edited by Eric Nantel
on 2024/10/16 14:30
< >
Change comment: There is no comment for this version

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21 21  
22 22  __Compatibility: Windows 7 Operating System or above__
23 23  
24 += User Guide =
24 24  
26 +* [[doc:.ses-pro-arm-ui-guide.WebHome]]
27 +
28 +{{comment}}
25 25  |(% colspan="3" %)(((
26 26  = User Guide =
27 27  )))
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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.
38 +| |(% 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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133 133  **Initialize**
134 134  
135 135  Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
140 +
141 +(((
142 +
136 136  )))
137 -| |(% style="text-align:center; vertical-align:middle" %) |(((
144 +)))
145 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]|(((
146 +**Position**
147 +
148 +
149 +)))
150 +| |(% 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" %) |(((
155 +| |(% 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" %) |(((
160 +| |(% 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  
170 +Ex: #GP1000
171 +This command would be open the **G**ripper to **P**osition 100.0%
172 +
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" %) |(((
181 +| |(% 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**
193 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((
194 +**Joints Control (angular)**
179 179  
180 -In angular mode, the user can control the angle of each joint
196 +In Joints mode, the user can control the angle of each joint.
197 +
198 +* The field can be clicked and changed using a keyboard.
199 +* Using the + and - sings will move by the amount specified in the drop down menu.
200 +* The RESET button will send the arm to Zero on all joints
181 181  )))
182 -| |(% style="text-align:center; vertical-align:middle" %) |(((
202 +| |(% 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" %) |(((
207 +| |(% 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.
210 +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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206 206  | |(% colspan="2" rowspan="1" %)(((
207 207  == Telemetry ==
208 208  )))
209 -| |(% style="text-align:center; vertical-align:middle" %) |(((
229 +| |(% colspan="2" %)[[image:ses-pro-robotic-arm-ui-telemetry.png]]
230 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-drop.png]]|(((
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:
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223 223  * PCB Temperature
224 224  * Probe Temperature
225 225  )))
226 -| |(% style="text-align:center; vertical-align:middle" %) |(((
247 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-hide.png]]|(((
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.
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337 337  | |(% style="text-align:center; vertical-align:middle" %) |
338 338  | |(% style="text-align:center; vertical-align:middle" %) |
339 339  
340 -{{comment}}
361 +
341 341  = =
342 342  
343 343  = User Guide =
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