Changes for page SES-PRO Robotic Arm UI
Last modified by Eric Nantel on 2024/10/16 14:33
Change comment: Uploaded new attachment "ses-pro-robotic-arm-ui-gripper-connect.png", version {1}
Summary
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- ses-pro-robotic-arm-ui-arm-3d.png
- ses-pro-robotic-arm-ui-arm-coordinates-lock.png
- ses-pro-robotic-arm-ui-arm-coordinates.png
- ses-pro-robotic-arm-ui-arm-joints.png
- ses-pro-robotic-arm-ui-gripper-force.png
- ses-pro-robotic-arm-ui-gripper-open-close.png
- ses-pro-robotic-arm-ui-gripper-position.png
- ses-pro-robotic-arm-ui-gripper-speed.png
- ses-pro-robotic-arm-ui-telemetry-drop.png
Details
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... ... @@ -31,7 +31,7 @@ 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:15 0px" %)[[image:ses-pro-robotic-arm-ui-info.png]]|Pressing the i "Information" icon in the software will bring you to this page.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 35 | |(% colspan="2" rowspan="1" %)((( 36 36 == IMPORTANT == 37 37 ))) ... ... @@ -106,7 +106,7 @@ 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- 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. ... ... @@ -163,9 +163,6 @@ 163 163 164 164 The sequencer displays the gripper position as joint G. 165 165 166 -Ex: #GP1000 167 -This command would be open the **G**ripper to **P**osition 100.0% 168 - 169 169 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. 170 170 ))) 171 171 | |(% colspan="2" rowspan="1" %)((( ... ... @@ -174,7 +174,7 @@ 174 174 | |(% colspan="2" rowspan="1" %)((( 175 175 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. 176 176 ))) 177 -| |(% style="text-align:center; vertical-align:middle" %) [[image:ses-pro-robotic-arm-ui-arm-3d.png]]|(((165 +| |(% style="text-align:center; vertical-align:middle" %) |((( 178 178 **View Controls** 179 179 180 180 Zoom: Shift + Middle Scroll ... ... @@ -186,24 +186,20 @@ 186 186 | |(% colspan="2" rowspan="1" %)((( 187 187 == Manual Move == 188 188 ))) 189 -| |(% style="text-align:center; vertical-align:middle" %) [[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((190 -** JointsControl(angular)**177 +| |(% style="text-align:center; vertical-align:middle" %) |((( 178 +**Angular Control** 191 191 192 -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 180 +In angular mode, the user can control the angle of each joint 197 197 ))) 198 -| |(% style="text-align:center; vertical-align:middle" %) [[image:ses-pro-robotic-arm-ui-arm-coordinates.png]]|(((182 +| |(% style="text-align:center; vertical-align:middle" %) |((( 199 199 **Coordinates Control** 200 200 201 201 In coordinate control the user can control the cartesian position of the end effector 202 202 ))) 203 -| |(% style="text-align:center; vertical-align:middle" %) [[image:ses-pro-robotic-arm-ui-arm-coordinates-lock.png]]|(((187 +| |(% style="text-align:center; vertical-align:middle" %) |((( 204 204 **End Effector Lock** 205 205 206 -The orientation of the end effector can be locked with the "ENABLED" button.190 +The orientation of the end effector can be locked. 207 207 ))) 208 208 | |(% colspan="2" rowspan="1" %)((( 209 209 == Direct Command ==
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