Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 66.1 >
edited by Eric Nantel
on 2024/10/16 13:48
To version < 23.1 >
edited by Coleman Benson
on 2024/10/08 18:19
< >
Change comment: There is no comment for this version

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1 -{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-software/ses-pro-arm-ui/WebHome/SES-PRO-Robotic-Arm-UI.png" width="350"/}}
1 +{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-software/ses-pro-arm-ui/WebHome/LSS-PRO-UI.png" width="350"/}}
2 2  
3 -[[[[image:lynxmotion-wiki-attachments.WebHome@DownloadNow.png]]>>https://lynxmotion.com/tools/ses-pro-app/lynxmotion_ses_pro_robotic_arm_ui_stable.exe]]
3 +[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg]]
4 4  
5 5  **Table of Contents**
6 6  
... ... @@ -8,7 +8,7 @@
8 8  
9 9  = Description =
10 10  
11 -The Lynxmotion Servo Erector Set Professional (SES PRO) Robotic Arm User Interface (UI) is a simple software which allows a user to control any of the Lynxmotion Professional Modular robotic arms in their default configuration. The two compatible gripper kits which are compatible with the SES PRO system (based on the DH Robotics PGE-50-40 and CGE-10-10 DC grillers) can also be controlled via this interface in each of their possible configurations. The included manual jog feature can be used to either position each joint angle, or move to specific cartesian coordinates. Arm (and gripper) positions can then be recorded as part of the built-in sequencer. A 3D display of the arm shows the position of the arm, and a graph can be used to show various information to the user. In order to get a better understanding of the protocol, commands sent to the arm are shown in the interface, and a user input field are standard.
11 +The Lynxmotion Servo Erector Set Professional (SES PRO) Arm Interface is a simple software which allows a user to control any of the Lynxmotion Professional Modular robotic arms in their default configuration. The two compatible gripper kits which are compatible with the SES PRO system (based on the DH Robotics PGE-50-40 and CGE-10-10 DC grillers) can also be controlled via this interface in each of their possible configurations. The included manual jog feature can be used to either position each joint angle, or move to specific cartesian coordinates. Arm (and gripper) positions can then be recorded as part of the built-in sequencer. A 3D display of the arm shows the position of the arm, and a graph can be used to show various information to the user. In order to get a better understanding of the protocol, commands sent to the arm are shown in the interface, and a user input field are standard.
12 12  
13 13  = Features =
14 14  
... ... @@ -19,346 +19,13 @@
19 19  * Command output and user input
20 20  * Safety (Software E-Stop, Halt&Hold & Limp)
21 21  
22 -__Compatibility: Windows 7 Operating System or above__
23 -
24 -
25 -|(% colspan="3" %)(((
26 26  = User Guide =
27 -)))
28 -|(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
23 +
29 29  Before proceeding with the guide, it is important to note the following:
30 30  
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 -)))
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.
35 -| |(% colspan="2" rowspan="1" %)(((
36 -== IMPORTANT ==
37 -)))
38 -| |(% colspan="2" rowspan="1" %)(((
39 -=== Payload Considerations ===
40 -)))
41 -| |(% colspan="2" rowspan="1" %)(((
42 -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.
43 -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.
44 -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.
45 -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".
46 -)))
47 -| |(% colspan="2" rowspan="1" %)(((
48 -=== Emergency ===
49 -)))
50 -| |(% colspan="2" rowspan="1" %)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. 
51 -The following emergency options are available based on severity:
52 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]|(((
53 -**Halt (and hold)**
54 54  
55 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
56 -)))
57 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((
58 -**Limp**
59 -
60 -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>.
61 -)))
62 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]|(((
63 -**Software E-Stop**
64 -
65 -The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
66 -)))
67 -| |(% style="text-align:center; vertical-align:middle" %) |(((
68 -**Power Supply E-Stop**
69 -
70 -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.
71 -)))
72 -| |(% colspan="2" rowspan="1" %)(((
73 -== Arm Connection ==
74 -)))
75 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
76 -**Model**
77 -
78 -The software currently supports the following Lynxmotion PRO Arms:
79 -
80 -* 550mm 5DoF
81 -* 550mm 6DoF
82 -* 900mm 5DoF
83 -* 900mm 6DoF
84 -
85 -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.
86 -)))
87 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]|(((
88 -**COM Port**
89 -
90 -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.
91 -)))
92 -| |(% style="text-align:center; vertical-align:middle" %)(((
93 -[[image:ses-pro-robotic-arm-ui-connect.png]]
94 -
95 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
96 -)))|(((
97 -**Connect / Disconnect**
98 -
99 -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.
100 -)))
101 -| |(% colspan="2" rowspan="1" %)(((
102 -== Gripper Controls ==
103 -)))
104 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
105 -**Model**
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.
108 -)))
109 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-version.png]]|(((
110 -* PGE-50-40 (40mm default configuration)
111 -* PGE-50-40 (60mm configuration)
112 -* PGE-50-40 (80mm configuration)
113 -* CGE-10-10 (20mm configuration)
114 -* CGE-10-10 (40mm configuration)
115 -* CGE-10-10 (60mm configuration)
116 -)))
117 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]|(((
118 -**COM Port**
119 -
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" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]|(((
123 -**Baudrate**
124 -
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" %)[[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]]|(((
133 -**Initialize**
134 -
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 -)))
140 -)))
141 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]|(((
142 -**Position**
143 -
144 -
145 -)))
146 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-speed.png]]|(((
147 -**Speed**
148 -
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 -)))
151 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]|(((
152 -**Force**
153 -
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 -)))
156 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-open-close.png]]|(((
157 -**Open / Close**
158 -
159 -These are shortcut buttons to either fully open or fully close the gripper.
160 -)))
161 -| |(% style="text-align:center; vertical-align:middle" %) |(((
162 -**Sequencer**
163 -
164 -The sequencer displays the gripper position as joint G.
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.
170 -)))
171 -| |(% colspan="2" rowspan="1" %)(((
172 -== 3D Model ==
173 -)))
174 -| |(% colspan="2" rowspan="1" %)(((
175 -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.
176 -)))
177 -| |(% style="text-align:center; vertical-align:middle" %) |(((
178 -**View Controls**
179 -
180 -Zoom: Shift + Middle Scroll
181 -
182 -Rotate: Shift + Middle Mouse
183 -
184 -Pan: None
185 -)))
186 -| |(% colspan="2" rowspan="1" %)(((
187 -== Manual Move ==
188 -)))
189 -| |(% style="text-align:center; vertical-align:middle" %) |(((
190 -**Angular Control**
191 -
192 -In angular mode, the user can control the angle of each joint
193 -)))
194 -| |(% style="text-align:center; vertical-align:middle" %) |(((
195 -**Coordinates Control**
196 -
197 -In coordinate control the user can control the cartesian position of the end effector
198 -)))
199 -| |(% style="text-align:center; vertical-align:middle" %) |(((
200 -**End Effector Lock**
201 -
202 -The orientation of the end effector can be locked.
203 -)))
204 -| |(% colspan="2" rowspan="1" %)(((
205 -== Direct Command ==
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.
209 -
210 -A few things to keep in mind when using this:
211 -
212 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
213 -* Sending commands does not require ‘#’ and ‘\r’ chars.
214 -** example for #2\r you should enter 2Q and press the "SEND" button
215 -* The commands are validated, and it shows a notification in case of error.
216 -* The replies of queries are shown in the text field below.
217 -)))
218 -| |(% colspan="2" rowspan="1" %)(((
219 -== Telemetry ==
220 -)))
221 -| |(% style="text-align:center; vertical-align:middle" %) |(((
222 -**Data to Display**
223 -
224 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
225 -
226 -* Position
227 -* Current
228 -* Linear Accel X
229 -* Linear Accel Y
230 -* Linear Accel Z
231 -* Angular Accel α
232 -* Angular Accel β
233 -* Angular Accel γ
234 -* MCU Temperature
235 -* PCB Temperature
236 -* Probe Temperature
237 -)))
238 -| |(% style="text-align:center; vertical-align:middle" %) |(((
239 -**Display / Hide **
240 -
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 -)))
243 -| |(% colspan="2" rowspan="1" %)(((
244 -== Sequencer ==
245 -)))
246 -| |(% colspan="2" rowspan="1" %)**Sequence**
247 -| |(% style="text-align:center; vertical-align:middle" %) |(((
248 -**Sequence Selector**
249 -
250 -
251 -)))
252 -| |(% style="text-align:center; vertical-align:middle" %) |(((
253 -**Add**
254 -
255 -
256 -)))
257 -| |(% style="text-align:center; vertical-align:middle" %) |(((
258 -**Substract**
259 -
260 -
261 -)))
262 -| |(% style="text-align:center; vertical-align:middle" %) |(((
263 -**Copy**
264 -
265 -
266 -)))
267 -| |(% style="text-align:center; vertical-align:middle" %) |(((
268 -**Save**
269 -
270 -
271 -)))
272 -| |(% style="text-align:center; vertical-align:middle" %) |(((
273 -**Open**
274 -
275 -
276 -)))
277 -| |(% style="text-align:center; vertical-align:middle" %) |(((
278 -**Delete**
279 -
280 -
281 -)))
282 -| |(% colspan="2" rowspan="1" %)**Frames**
283 -| |(% style="text-align:center; vertical-align:middle" %) |(((
284 -**Add**
285 -
286 -
287 -)))
288 -| |(% style="text-align:center; vertical-align:middle" %) |(((
289 -**Sequence Selector**
290 -
291 -
292 -)))
293 -| |(% style="text-align:center; vertical-align:middle" %) |(((
294 -**Record**
295 -
296 -
297 -)))
298 -| |(% style="text-align:center; vertical-align:middle" %) |(((
299 -**Delete**
300 -
301 -
302 -)))
303 -| |(% style="text-align:center; vertical-align:middle" %) |(((
304 -**Copy**
305 -
306 -
307 -)))
308 -| |(% style="text-align:center; vertical-align:middle" %) |(((
309 -**Paste**
310 -
311 -
312 -)))
313 -| |(% style="text-align:center; vertical-align:middle" %) |(((
314 -**Swap**
315 -
316 -
317 -)))
318 -| |(% style="text-align:center; vertical-align:middle" %) |(((
319 -**Frame Name**
320 -
321 -
322 -)))
323 -| |(% style="text-align:center; vertical-align:middle" %) |(((
324 -**Frame length**
325 -
326 -//Alt + Left Click = Drag time//
327 -)))
328 -| |(% style="text-align:center; vertical-align:middle" %) |(((
329 -**Frame Move**
330 -
331 -
332 -)))
333 -| |(% style="text-align:center; vertical-align:middle" %) |(((
334 -**Loop**
335 -
336 -
337 -)))
338 -| |(% style="text-align:center; vertical-align:middle" %) |(((
339 -**Manual Edit**
340 -
341 -Time, angles, gripper
342 -)))
343 -| |(% style="text-align:center; vertical-align:middle" %) |(((
344 -**Zoom**
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 -{{comment}}
353 -= =
354 -
355 -= User Guide =
356 -
357 -Pressing the i "Information" icon in the software will bring you to this page. Before proceeding with the guide, it is important to note the following:
358 -
359 -* 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
360 -* 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
361 -
362 362  == IMPORTANT: Payload Considerations ==
363 363  
364 364  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.
... ... @@ -371,11 +371,9 @@
371 371  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:
372 372  
373 373  **Halt & Hold**
374 -
375 375  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
376 376  
377 377  **Limp**
378 -
379 379  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>.
380 380  
381 381  **Software Stop**
... ... @@ -389,70 +389,48 @@
389 389  
390 390  **Model**
391 391  
392 -The software currently supports the following Lynxmotion PRO Arms:
57 +The software currently supports the Lynxmotion PRO 550mm 5 degree of freedom (5 DoF), 550mm 6DoF, 900mm 5DoF and 900mm 6DoF robotic arm configurations. In practice, each 5DoF has joint 4 at a fixed angle.
393 393  
394 -* 550mm 5DoF
395 -* 550mm 6DoF
396 -* 900mm 5DoF
397 -* 900mm 6DoF
59 +**Serial COM Port**
398 398  
399 -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.
400 -
401 -**COM Port**
402 -
403 403  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. 
404 404  
405 405  **Connect**
406 406  
407 -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.
65 +== Gripper Connection ==
408 408  
409 -== Gripper Controls ==
410 -
411 411  **Model**
412 412  
413 413  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.
414 414  
415 -* PGE-50-40 (40mm default configuration)
416 -* PGE-50-40 (60mm configuration)
417 -* PGE-50-40 (80mm configuration)
418 -* CGE-10-10 (20mm configuration)
419 -* CGE-10-10 (40mm configuration)
420 -* CGE-10-10 (60mm configuration)
71 +**Serial COM Port**
421 421  
422 -**COM Port**
73 +//{Coming Soon}//
423 423  
424 -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
425 -
426 426  **Baudrate**
427 427  
428 -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 teh software.
77 +//{Coming Soon}//
429 429  
430 -**Initialize**
79 +**Connect**
431 431  
432 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
81 +//{Coming Soon}//
433 433  
434 -**Connect**
83 +**Calibrate**
435 435  
436 -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.
85 +//{Coming Soon}//
437 437  
438 438  **Speed**
439 439  
440 -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.
89 +//{Coming Soon}//
441 441  
442 442  **Force**
443 443  
444 -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.
93 +//{Coming Soon}//
445 445  
446 446  **Open / Close**
447 447  
448 -These are shortcut buttons to either fully open or fully close the gripper.
97 +//{Coming Soon}//
449 449  
450 -**Sequencer**
451 -
452 -The sequencer displays the gripper position as joint 7 (J7).
453 -
454 -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.
455 -
456 456  == 3D Model ==
457 457  
458 458  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.
... ... @@ -459,12 +459,8 @@
459 459  
460 460  **View Controls**
461 461  
462 -Zoom: Shift + Middle Scroll
105 +//{Coming Soon}//
463 463  
464 -Rotate: Shift + Middle Mouse
465 -
466 -Pan: None
467 -
468 468  == Manual Move ==
469 469  
470 470  **Angular Control**
... ... @@ -505,7 +505,7 @@
505 505  
506 506  //{Coming Soon}//
507 507  
508 -== Sequencer ==
147 +== Sequencer ==
509 509  
510 510  **Frames**
511 511  
... ... @@ -519,7 +519,7 @@
519 519  
520 520  Time, angles, gripper
521 521  
522 -//Alt + Left Click = Drag time//
161 +//{Coming Soon}//
523 523  
524 524  **Reorder**
525 525  
... ... @@ -532,4 +532,3 @@
532 532  **Errors**
533 533  
534 534  //{Coming Soon}//
535 -{{/comment}}
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Copyright RobotShop 2018