Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 71.1 >
edited by Eric Nantel
on 2024/10/16 13:56
To version < 13.1 >
edited by Eric Nantel
on 2024/09/23 07:59
< >
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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  
... ... @@ -8,532 +8,184 @@
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.
12 12  
13 13  = Features =
14 14  
15 -* Angular and cartesian positioning of the end effector
16 -* 3D graphical display of the appropriate robotic arm and end effector
17 -* Sequencer to record and play back frames (single, looped or infinite)
18 -* Error checking (speed, temperature etc.)
19 -* Command output and user input
20 -* Safety (Software E-Stop, Halt&Hold & Limp)
21 21  
22 -__Compatibility: Windows 7 Operating System or above__
15 +<direct commands>
23 23  
24 -
25 -|(% colspan="3" %)(((
26 -= User Guide =
27 -)))
28 -|(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
29 -Before proceeding with the guide, it is important to note the following:
30 -
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 -* 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:150px" %)[[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 -
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" %)[[image:ses-pro-robotic-arm-ui-arm-3d.png]]|(((
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" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((
190 -**Joints Control (angular)**
191 -
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
197 -)))
198 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates.png]]|(((
199 -**Coordinates Control**
200 -
201 -In coordinate control the user can control the cartesian position of the end effector
202 -)))
203 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates-lock.png]]|(((
204 -**End Effector Lock**
205 -
206 -The orientation of the end effector can be locked with the "ENABLED" button.
207 -)))
208 -| |(% colspan="2" rowspan="1" %)(((
209 -== Direct Command ==
210 -)))
211 -| |(% colspan="2" rowspan="1" %)(((
212 -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.
213 -
214 -A few things to keep in mind when using this:
215 -
216 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
217 -* Sending commands does not require ‘#’ and ‘\r’ chars.
218 -** example for #2\r you should enter 2Q and press the "SEND" button
17 +* Does not require ‘#’ and ‘\r’ chars, example for #254Q\r the user should enter 254Q.
18 +* The replies of the query commands are shown in the text field below.
219 219  * The commands are validated, and it shows a notification in case of error.
220 -* The replies of queries are shown in the text field below.
221 -)))
222 -| |(% colspan="2" rowspan="1" %)(((
223 -== Telemetry ==
224 -)))
225 -| |(% style="text-align:center; vertical-align:middle" %) |(((
226 -**Data to Display**
20 +* Supported commands:
227 227  
228 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
22 +Action:
229 229  
230 -* Position
231 -* Current
232 -* Linear Accel X
233 -* Linear Accel Y
234 -* Linear Accel Z
235 -* Angular Accel α
236 -* Angular Accel β
237 -* Angular Accel γ
238 -* MCU Temperature
239 -* PCB Temperature
240 -* Probe Temperature
241 -)))
242 -| |(% style="text-align:center; vertical-align:middle" %) |(((
243 -**Display / Hide **
24 + # Communication setup
244 244  
245 -At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
246 -)))
247 -| |(% colspan="2" rowspan="1" %)(((
248 -== Sequencer ==
249 -)))
250 -| |(% colspan="2" rowspan="1" %)**Sequence**
251 -| |(% style="text-align:center; vertical-align:middle" %) |(((
252 -**Sequence Selector**
26 + RESET = "RESET"
253 253  
254 -
255 -)))
256 -| |(% style="text-align:center; vertical-align:middle" %) |(((
257 -**Add**
28 + DEFAULT_CONFIGURATION = "DEFAULT"
258 258  
259 -
260 -)))
261 -| |(% style="text-align:center; vertical-align:middle" %) |(((
262 -**Substract**
30 + FIRMWARE_UPDATE_MODE = "UPDATE"
263 263  
264 -
265 -)))
266 -| |(% style="text-align:center; vertical-align:middle" %) |(((
267 -**Copy**
32 + CONFIRM_CHANGES = "CONFIRM"
268 268  
269 -
270 -)))
271 -| |(% style="text-align:center; vertical-align:middle" %) |(((
272 -**Save**
34 + # Motion
273 273  
274 -
275 -)))
276 -| |(% style="text-align:center; vertical-align:middle" %) |(((
277 -**Open**
36 + POSITION = "D"
278 278  
279 -
280 -)))
281 -| |(% style="text-align:center; vertical-align:middle" %) |(((
282 -**Delete**
38 + MOVE_DEGREES = "MD"
283 283  
284 -
285 -)))
286 -| |(% colspan="2" rowspan="1" %)**Frames**
287 -| |(% style="text-align:center; vertical-align:middle" %) |(((
288 -**Add**
40 + WHEEL_MODE_DEGREES = "WD"
289 289  
290 -
291 -)))
292 -| |(% style="text-align:center; vertical-align:middle" %) |(((
293 -**Sequence Selector**
42 + WHEEL_MODE_RPM = "WR"
294 294  
295 -
296 -)))
297 -| |(% style="text-align:center; vertical-align:middle" %) |(((
298 -**Record**
44 + HALT_AND_HOLD = "H"
299 299  
300 -
301 -)))
302 -| |(% style="text-align:center; vertical-align:middle" %) |(((
303 -**Delete**
46 + LIMP = "L"
304 304  
305 -
306 -)))
307 -| |(% style="text-align:center; vertical-align:middle" %) |(((
308 -**Copy**
48 + # Motion setup
309 309  
310 -
311 -)))
312 -| |(% style="text-align:center; vertical-align:middle" %) |(((
313 -**Paste**
50 + ORIGIN_OFFSET = "O"
314 314  
315 -
316 -)))
317 -| |(% style="text-align:center; vertical-align:middle" %) |(((
318 -**Swap**
52 + ANGULAR_RANGE = "AR"
319 319  
320 -
321 -)))
322 -| |(% style="text-align:center; vertical-align:middle" %) |(((
323 -**Frame Name**
54 + ANGULAR_ACCELERATION = "AA"
324 324  
325 -
326 -)))
327 -| |(% style="text-align:center; vertical-align:middle" %) |(((
328 -**Frame length**
56 + ANGULAR_DECELERATION = "AD"
329 329  
330 -//Alt + Left Click = Drag time//
331 -)))
332 -| |(% style="text-align:center; vertical-align:middle" %) |(((
333 -**Frame Move**
58 + GYRE_DIRECTION = "G"
334 334  
335 -
336 -)))
337 -| |(% style="text-align:center; vertical-align:middle" %) |(((
338 -**Loop**
60 + MAX_SPEED_DEGREES = "SD"
339 339  
340 -
341 -)))
342 -| |(% style="text-align:center; vertical-align:middle" %) |(((
343 -**Manual Edit**
62 + MAX_SPEED_RPM = "SR"
344 344  
345 -Time, angles, gripper
346 -)))
347 -| |(% style="text-align:center; vertical-align:middle" %) |(((
348 -**Zoom**
64 + # RGB LED
349 349  
350 -
351 -)))
352 -| |(% colspan="2" rowspan="1" %)**Errors**
353 -| |(% style="text-align:center; vertical-align:middle" %) |
354 -| |(% style="text-align:center; vertical-align:middle" %) |
66 + LED_COLOR = "LED"
355 355  
356 -{{comment}}
357 -= =
68 + Query:
358 358  
359 -= User Guide =
70 + # Communication setup
360 360  
361 -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:
72 + ID_NUMBER = "QID"
362 362  
363 -* 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
364 -* 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
74 + ENABLE_CAN_TERMINAL = "QET"
365 365  
366 -== IMPORTANT: Payload Considerations ==
76 + USB_CONNECTION_STATUS = "QUC"
367 367  
368 -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.
369 -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.
370 -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.
371 -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".
78 + # Motion
372 372  
373 -== IMPORTANT: Emergency ==
80 + POSITION = "QD"
374 374  
375 -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:
82 + WHEEL_MODE_DEGREES = "QWD"
376 376  
377 -**Halt & Hold**
84 + WHEEL_MODE_RPM = "QWR"
378 378  
379 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
86 + MOTION_STATUS = "Q"
380 380  
381 -**Limp**
88 + MOTION_TIME = "QMT"
382 382  
383 -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>.
90 + CURRENT_SPEED = "QCS"
384 384  
385 -**Software Stop**
386 386  
387 -The E-stop button within the software sets all joints to limp.
93 + # Telemetry
388 388  
389 -**Hardware E-Stop**
390 -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.
95 + MODEL_STRING = "QMS" 
391 391  
392 -== Arm Connection ==
97 + FIRMWARE_VERSION = "QF" 
393 393  
394 -**Model**
99 + SERIAL_NUMBER = "QN" 
395 395  
396 -The software currently supports the following Lynxmotion PRO Arms:
101 + TEMP_CONTROLLER_ERROR = "QTCE" 
397 397  
398 -* 550mm 5DoF
399 -* 550mm 6DoF
400 -* 900mm 5DoF
401 -* 900mm 6DoF
103 + TEMP_CONTROLLER_WARNING = "QTCW" 
402 402  
403 -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.
105 + CURRENT = "QC"
404 404  
405 -**COM Port**
107 + ACCX = "QIX"
406 406  
407 -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. 
109 + ACCY = "QIY"
408 408  
409 -**Connect**
111 + ACCZ = "QIZ"
410 410  
411 -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.
113 + ACCALPHA = "QIA"
412 412  
413 -== Gripper Controls ==
115 + ACCBETA = "QIB"
414 414  
415 -**Model**
117 + ACCGAMMA = "QIG"
416 416  
417 -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.
119 + TEMPMCU = "QTM"
418 418  
419 -* PGE-50-40 (40mm default configuration)
420 -* PGE-50-40 (60mm configuration)
421 -* PGE-50-40 (80mm configuration)
422 -* CGE-10-10 (20mm configuration)
423 -* CGE-10-10 (40mm configuration)
424 -* CGE-10-10 (60mm configuration)
121 + TEMPPROBE = "QTP"
425 425  
426 -**COM Port**
123 + TEMPPCB = "QT"
427 427  
428 -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
125 + ERROR_FLAGS = "QEF"
429 429  
430 -**Baudrate**
431 431  
432 -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.
128 + # RGB LED
433 433  
434 -**Initialize**
130 + LED_COLOR = "QLED"
435 435  
436 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
132 + LED_BLINKING = "QLB"
437 437  
438 -**Connect**
134 + LED_INDICATOR = "QLI"
439 439  
440 -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.
441 441  
442 -**Speed**
137 + # Motion setup
443 443  
444 -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.
139 + ORIGIN_OFFSET = "QO"
445 445  
446 -**Force**
141 + ANGULAR_RANGE = "QAR"
447 447  
448 -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.
143 + ANGULAR_ACCELERATION = "QAA"
449 449  
450 -**Open / Close**
145 + ANGULAR_DECELERATION = "QAD"
451 451  
452 -These are shortcut buttons to either fully open or fully close the gripper.
147 + GYRE_DIRECTION = "QG"
453 453  
454 -**Sequencer**
149 + MAX_SPEED_DEGREES = "QSD"
455 455  
456 -The sequencer displays the gripper position as joint 7 (J7).
151 + MAX_SPEED_RPM = "QSR"
457 457  
458 -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.
459 459  
460 -== 3D Model ==
154 + Conf:
461 461  
462 -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.
156 + # Communication setup
463 463  
464 -**View Controls**
158 + ID_NUMBER = "CID"
465 465  
466 -Zoom: Shift + Middle Scroll
160 + ENABLE_CAN_TERMINAL = "CET"
467 467  
468 -Rotate: Shift + Middle Mouse
162 + USB_CONNECTION_STATUS = "CUC"
469 469  
470 -Pan: None
164 + # Motion setup
471 471  
472 -== Manual Move ==
166 + MAX_SPEED_DEGREES = "CSD"
473 473  
474 -**Angular Control**
168 + MAX_SPEED_RPM = "CSR"
475 475  
476 -In angular mode, the user can control the angle of each joint
170 + ORIGIN_OFFSET = "CO"
477 477  
478 -**Coordinates Control**
172 + ANGULAR_RANGE = "CAR"
479 479  
480 -In coordinate control the user can control the cartesian position of the end effector
174 + ANGULAR_ACCELERATION = "CAA"
481 481  
482 -**End Effector Lock**
176 + ANGULAR_DECELERATION = "CAD"
483 483  
484 -The orientation of the end effector can be locked.
178 + GYRE_DIRECTION = "CG"
485 485  
486 -== Direct Command ==
180 + # RGB LED
487 487  
488 -This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
182 + LED_COLOR = "CLED"
489 489  
490 -A few things to keep in mind when using this:
184 + LED_BLINKING = "CLB"
491 491  
492 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
493 -* Sending commands does not require ‘#’ and ‘\r’ chars.
494 -** example for #2\r you should enter 2Q and press the "SEND" button
495 -* The commands are validated, and it shows a notification in case of error.
496 -* The replies of queries are shown in the text field below.
497 497  
498 -== Command Output ==
187 + Modifier:
499 499  
500 -//{Coming Soon}//
189 + SPEED = "SD"
501 501  
502 -== Telemetry ==
503 -
504 -**Data to Display**
505 -
506 -//{Coming Soon}//
507 -
508 -**Display / Hide Actuator**
509 -
510 -//{Coming Soon}//
511 -
512 -== Sequencer ==
513 -
514 -**Frames**
515 -
516 -//{Coming Soon}//
517 -
518 -**Record **
519 -
520 -//{Coming Soon}//
521 -
522 -**Edit **
523 -
524 -Time, angles, gripper
525 -
526 -//Alt + Left Click = Drag time//
527 -
528 -**Reorder**
529 -
530 -//{Coming Soon}//
531 -
532 -**Play**
533 -
534 -//{Coming Soon}//
535 -
536 -**Errors**
537 -
538 -//{Coming Soon}//
539 -{{/comment}}
191 + TIME = "T"
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