Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 65.2 >
edited by Eric Nantel
on 2024/10/16 13:46
To version < 52.3 >
edited by Eric Nantel
on 2024/10/16 12:43
< >
Change comment: There is no comment for this version

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104 104  | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
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.
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 J7.
108 108  )))
109 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-version.png]]|(((
109 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
110 110  * PGE-50-40 (40mm default configuration)
111 111  * PGE-50-40 (60mm configuration)
112 112  * PGE-50-40 (80mm configuration)
... ... @@ -114,46 +114,37 @@
114 114  * CGE-10-10 (40mm configuration)
115 115  * CGE-10-10 (60mm configuration)
116 116  )))
117 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]|(((
117 +| |(% style="text-align:center; vertical-align:middle" %) |(((
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" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]|(((
122 +| |(% style="text-align:center; vertical-align:middle" %) |(((
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" %)[[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]]|(((
127 +| |(% style="text-align:center; vertical-align:middle" %) |(((
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.
136 -
137 -(((
138 -
139 139  )))
140 -)))
141 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]|(((
142 -**Position**
132 +| |(% style="text-align:center; vertical-align:middle" %) |(((
133 +**Connect**
143 143  
144 -
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.
145 145  )))
146 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-speed.png]]|(((
137 +| |(% style="text-align:center; vertical-align:middle" %) |(((
147 147  **Speed**
148 148  
149 149  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.
150 150  )))
151 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]|(((
142 +| |(% style="text-align:center; vertical-align:middle" %) |(((
152 152  **Force**
153 153  
154 154  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.
155 155  )))
156 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-open-close.png]]|(((
147 +| |(% style="text-align:center; vertical-align:middle" %) |(((
157 157  **Open / Close**
158 158  
159 159  These are shortcut buttons to either fully open or fully close the gripper.
... ... @@ -161,12 +161,9 @@
161 161  | |(% style="text-align:center; vertical-align:middle" %) |(((
162 162  **Sequencer**
163 163  
164 -The sequencer displays the gripper position as joint G.
155 +The sequencer displays the gripper position as joint 7 (J7).
165 165  
166 -Ex: #GP1000
167 -This command would be open the **G**ripper to **P**osition 100.0%
168 -
169 -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.
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 J7 moves.
170 170  )))
171 171  | |(% colspan="2" rowspan="1" %)(((
172 172  == 3D Model ==
... ... @@ -183,42 +183,212 @@
183 183  
184 184  Pan: None
185 185  )))
186 -| |(% colspan="2" rowspan="1" %)(((
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195 +
196 +|(% colspan="2" %)(((
197 += User Guide =
198 +)))
199 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
200 +Before proceeding with the guide, it is important to note the following:
201 +
202 +* 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
203 +* 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
204 +
205 +Pressing the i "Information" icon in the software will bring you to this page.
206 +
207 +[[image:ses-pro-robotic-arm-ui-info.png]]
208 +)))
209 +|(% colspan="2" %)(((
210 +== IMPORTANT ==
211 +)))
212 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
213 +=== Payload Considerations ===
214 +
215 +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.
216 +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.
217 +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.
218 +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".
219 +)))
220 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
221 +=== Emergency ===
222 +
223 +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:
224 +
225 +**Halt (and hold)**
226 +
227 +**[[image:ses-pro-robotic-arm-ui-halt.png]]**
228 +
229 +This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
230 +
231 +**Limp**
232 +
233 +**[[image:ses-pro-robotic-arm-ui-limp.png]]**
234 +
235 +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>.
236 +
237 +**Software E-Stop**
238 +
239 +**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
240 +
241 +The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
242 +
243 +**Power Supply E-Stop**
244 +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.
245 +)))
246 +|(% colspan="2" %)(((
247 +== Arm Connection ==
248 +)))
249 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
250 +**Model**
251 +
252 +**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
253 +
254 +The software currently supports the following Lynxmotion PRO Arms:
255 +
256 +* 550mm 5DoF
257 +* 550mm 6DoF
258 +* 900mm 5DoF
259 +* 900mm 6DoF
260 +
261 +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.
262 +
263 +**COM Port**
264 +
265 +**[[image:ses-pro-robotic-arm-ui-com.png]]**
266 +
267 +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. 
268 +
269 +**Connect / Disconnect**
270 +
271 +[[image:ses-pro-robotic-arm-ui-connect.png]]
272 +
273 +[[image:ses-pro-robotic-arm-ui-disconnect.png]]
274 +
275 +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.
276 +)))
277 +|(% colspan="2" %)(((
278 +== Gripper Controls ==
279 +)))
280 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
281 +**Model**
282 +
283 +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.
284 +
285 +* PGE-50-40 (40mm default configuration)
286 +* PGE-50-40 (60mm configuration)
287 +* PGE-50-40 (80mm configuration)
288 +* CGE-10-10 (20mm configuration)
289 +* CGE-10-10 (40mm configuration)
290 +* CGE-10-10 (60mm configuration)
291 +
292 +**COM Port**
293 +
294 +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
295 +
296 +**Baudrate**
297 +
298 +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.
299 +
300 +**Initialize**
301 +
302 +Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
303 +
304 +**Connect**
305 +
306 +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.
307 +
308 +**Speed**
309 +
310 +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.
311 +
312 +**Force**
313 +
314 +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.
315 +
316 +**Open / Close**
317 +
318 +These are shortcut buttons to either fully open or fully close the gripper.
319 +
320 +**Sequencer**
321 +
322 +The sequencer displays the gripper position as joint 7 (J7).
323 +
324 +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.
325 +)))
326 +|(% colspan="2" %)(((
327 +== 3D Model ==
328 +)))
329 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
330 +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.
331 +
332 +**View Controls**
333 +
334 +Zoom: Shift + Middle Scroll
335 +
336 +Rotate: Shift + Middle Mouse
337 +
338 +Pan: None
339 +)))
340 +|(% colspan="2" %)(((
187 187  == Manual Move ==
188 188  )))
189 -| |(% style="text-align:center; vertical-align:middle" %) |(((
343 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
190 190  **Angular Control**
191 191  
192 192  In angular mode, the user can control the angle of each joint
193 -)))
194 -| |(% style="text-align:center; vertical-align:middle" %) |(((
347 +
195 195  **Coordinates Control**
196 196  
197 197  In coordinate control the user can control the cartesian position of the end effector
198 -)))
199 -| |(% style="text-align:center; vertical-align:middle" %) |(((
351 +
200 200  **End Effector Lock**
201 201  
202 202  The orientation of the end effector can be locked.
203 203  )))
204 -| |(% colspan="2" rowspan="1" %)(((
356 +|(% colspan="2" %)(((
205 205  == Direct Command ==
206 206  )))
207 -| |(% colspan="2" rowspan="1" %)(((
208 -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.
359 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
360 +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.
209 209  
210 210  A few things to keep in mind when using this:
211 211  
212 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
364 +* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
213 213  * Sending commands does not require ‘#’ and ‘\r’ chars.
214 214  ** example for #2\r you should enter 2Q and press the "SEND" button
215 215  * The commands are validated, and it shows a notification in case of error.
216 216  * The replies of queries are shown in the text field below.
217 217  )))
218 -| |(% colspan="2" rowspan="1" %)(((
370 +|(% colspan="2" %)(((
371 +== Command Output ==
372 +)))
373 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
374 +//{Coming Soon}//
375 +)))
376 +|(% colspan="2" %)(((
219 219  == Telemetry ==
220 220  )))
221 -| |(% style="text-align:center; vertical-align:middle" %) |(((
379 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
222 222  **Data to Display**
223 223  
224 224  Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
... ... @@ -234,121 +234,116 @@
234 234  * MCU Temperature
235 235  * PCB Temperature
236 236  * Probe Temperature
237 -)))
238 -| |(% style="text-align:center; vertical-align:middle" %) |(((
395 +
239 239  **Display / Hide **
240 240  
241 241  At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
242 242  )))
243 -| |(% colspan="2" rowspan="1" %)(((
400 +|(% colspan="2" style="width:26px" %)(((
244 244  == Sequencer ==
245 245  )))
246 -| |(% colspan="2" rowspan="1" %)**Sequence**
247 -| |(% style="text-align:center; vertical-align:middle" %) |(((
248 -**Sequence Selector**
403 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
404 +**Sequence**
249 249  
250 -
251 -)))
252 -| |(% style="text-align:center; vertical-align:middle" %) |(((
253 -**Add**
406 +Add
254 254  
255 -
256 -)))
257 -| |(% style="text-align:center; vertical-align:middle" %) |(((
258 -**Substract**
408 +Substract
259 259  
260 -
261 -)))
262 -| |(% style="text-align:center; vertical-align:middle" %) |(((
263 -**Copy**
410 +Copy
264 264  
265 -
266 -)))
267 -| |(% style="text-align:center; vertical-align:middle" %) |(((
268 -**Save**
412 +Save
269 269  
270 -
271 -)))
272 -| |(% style="text-align:center; vertical-align:middle" %) |(((
273 -**Open**
414 +Open
274 274  
275 -
276 -)))
277 -| |(% style="text-align:center; vertical-align:middle" %) |(((
278 -**Delete**
416 +Delete
279 279  
280 -
281 -)))
282 -| |(% colspan="2" rowspan="1" %)**Frames**
283 -| |(% style="text-align:center; vertical-align:middle" %) |(((
284 -**Add**
418 +//{Coming Soon}//
285 285  
286 -
287 -)))
288 -| |(% style="text-align:center; vertical-align:middle" %) |(((
289 -**Sequence Selector**
420 +**Frames**
290 290  
291 -
292 -)))
293 -| |(% style="text-align:center; vertical-align:middle" %) |(((
294 -**Record**
422 +Add
295 295  
296 -
297 -)))
298 -| |(% style="text-align:center; vertical-align:middle" %) |(((
299 -**Delete**
424 +Sequence Selector
300 300  
301 -
302 -)))
303 -| |(% style="text-align:center; vertical-align:middle" %) |(((
304 -**Copy**
426 +Record
305 305  
306 -
307 -)))
308 -| |(% style="text-align:center; vertical-align:middle" %) |(((
309 -**Paste**
428 +Delete
310 310  
311 -
312 -)))
313 -| |(% style="text-align:center; vertical-align:middle" %) |(((
314 -**Swap**
430 +Copy
315 315  
316 -
317 -)))
318 -| |(% style="text-align:center; vertical-align:middle" %) |(((
319 -**Frame Name**
432 +Paste
320 320  
321 -
322 -)))
323 -| |(% style="text-align:center; vertical-align:middle" %) |(((
324 -**Frame length**
434 +Swap
325 325  
436 +Manual Edit
437 +
438 +Time, angles, gripper
439 +
440 +Moving Frames
441 +
326 326  //Alt + Left Click = Drag time//
327 -)))
328 -| |(% style="text-align:center; vertical-align:middle" %) |(((
329 -**Frame Move**
330 330  
331 -
332 -)))
333 -| |(% style="text-align:center; vertical-align:middle" %) |(((
334 -**Loop**
444 +//{Coming Soon}//
335 335  
336 -
337 -)))
338 -| |(% style="text-align:center; vertical-align:middle" %) |(((
339 -**Manual Edit**
446 +**Errors**
340 340  
341 -Time, angles, gripper
448 +//{Coming Soon}//
342 342  )))
343 -| |(% style="text-align:center; vertical-align:middle" %) |(((
344 -**Zoom**
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499 +|(% style="width:26px" %) |(% style="width:1452px" %)
500 +|(% style="width:26px" %) |(% style="width:1452px" %)
501 +|(% style="width:26px" %) |(% style="width:1452px" %)
502 +|(% style="width:26px" %) |(% style="width:1452px" %)
503 +|(% style="width:26px" %) |(% style="width:1452px" %)
345 345  
346 -
347 -)))
348 -| |(% colspan="2" rowspan="1" %)**Errors**
349 -| |(% style="text-align:center; vertical-align:middle" %) |
350 -| |(% style="text-align:center; vertical-align:middle" %) |
351 -
352 352  {{comment}}
353 353  = =
354 354  
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