Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 74.1 >
edited by Eric Nantel
on 2024/10/16 13:58
To version < 65.1 >
edited by Eric Nantel
on 2024/10/16 13:43
< >
Change comment: Uploaded new attachment "ses-pro-robotic-arm-ui-gripper-open-close.png", version {1}

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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:150px" %)[[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  )))
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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.
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**
143 -
144 -
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.
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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" %)(((
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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
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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 -**Joints Control (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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222 222  | |(% colspan="2" rowspan="1" %)(((
223 223  == Telemetry ==
224 224  )))
225 -| |(% colspan="2" %)[[image:ses-pro-robotic-arm-ui-telemetry.png]]
226 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-drop.png]]|(((
209 +| |(% style="text-align:center; vertical-align:middle" %) |(((
227 227  **Data to Display**
228 228  
229 229  Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
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240 240  * PCB Temperature
241 241  * Probe Temperature
242 242  )))
243 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-hide.png]]|(((
226 +| |(% style="text-align:center; vertical-align:middle" %) |(((
244 244  **Display / Hide **
245 245  
246 246  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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