Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 76.1 >
edited by Eric Nantel
on 2024/10/16 14:30
To version < 60.1 >
edited by Eric Nantel
on 2024/10/16 13:34
< >
Change comment: Uploaded new attachment "ses-pro-robotic-arm-ui-gripper-connect.png", version {1}

Summary

Details

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Content
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21 21  
22 22  __Compatibility: Windows 7 Operating System or above__
23 23  
24 -= User Guide =
25 25  
26 -* [[doc:.ses-pro-arm-ui-guide.WebHome]]
27 -
28 -{{comment}}
29 29  |(% colspan="3" %)(((
30 30  = User Guide =
31 31  )))
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35 35  * 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
36 36  * 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
37 37  )))
38 -| |(% 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.
39 39  | |(% colspan="2" rowspan="1" %)(((
40 40  == IMPORTANT ==
41 41  )))
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110 110  
111 111  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.
112 112  )))
113 -| |(% 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]]|(((
114 114  * PGE-50-40 (40mm default configuration)
115 115  * PGE-50-40 (60mm configuration)
116 116  * PGE-50-40 (80mm configuration)
... ... @@ -118,46 +118,37 @@
118 118  * CGE-10-10 (40mm configuration)
119 119  * CGE-10-10 (60mm configuration)
120 120  )))
121 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]|(((
117 +| |(% style="text-align:center; vertical-align:middle" %) |(((
122 122  **COM Port**
123 123  
124 124  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
125 125  )))
126 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]|(((
122 +| |(% style="text-align:center; vertical-align:middle" %) |(((
127 127  **Baudrate**
128 128  
129 129  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.
130 130  )))
131 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-connect.png]]|(((
132 -**Connect**
133 -
134 -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.
135 -)))
136 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-init.png]]|(((
127 +| |(% style="text-align:center; vertical-align:middle" %) |(((
137 137  **Initialize**
138 138  
139 139  Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
140 -
141 -(((
142 -
143 143  )))
144 -)))
145 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]|(((
146 -**Position**
132 +| |(% style="text-align:center; vertical-align:middle" %) |(((
133 +**Connect**
147 147  
148 -
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.
149 149  )))
150 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-speed.png]]|(((
137 +| |(% style="text-align:center; vertical-align:middle" %) |(((
151 151  **Speed**
152 152  
153 153  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.
154 154  )))
155 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]|(((
142 +| |(% style="text-align:center; vertical-align:middle" %) |(((
156 156  **Force**
157 157  
158 158  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.
159 159  )))
160 -| |(% 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" %) |(((
161 161  **Open / Close**
162 162  
163 163  These are shortcut buttons to either fully open or fully close the gripper.
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167 167  
168 168  The sequencer displays the gripper position as joint G.
169 169  
170 -Ex: #GP1000
171 -This command would be open the **G**ripper to **P**osition 100.0%
172 -
173 173  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.
174 174  )))
175 175  | |(% colspan="2" rowspan="1" %)(((
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178 178  | |(% colspan="2" rowspan="1" %)(((
179 179  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.
180 180  )))
181 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-3d.png]]|(((
165 +| |(% style="text-align:center; vertical-align:middle" %) |(((
182 182  **View Controls**
183 183  
184 184  Zoom: Shift + Middle Scroll
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190 190  | |(% colspan="2" rowspan="1" %)(((
191 191  == Manual Move ==
192 192  )))
193 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((
194 -**Joints Control (angular)**
177 +| |(% style="text-align:center; vertical-align:middle" %) |(((
178 +**Angular Control**
195 195  
196 -In Joints mode, the user can control the angle of each joint.
197 -
198 -* The field can be clicked and changed using a keyboard.
199 -* Using the + and - sings will move by the amount specified in the drop down menu.
200 -* 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
201 201  )))
202 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates.png]]|(((
182 +| |(% style="text-align:center; vertical-align:middle" %) |(((
203 203  **Coordinates Control**
204 204  
205 205  In coordinate control the user can control the cartesian position of the end effector
206 206  )))
207 -| |(% 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" %) |(((
208 208  **End Effector Lock**
209 209  
210 -The orientation of the end effector can be locked with the "ENABLED" button.
190 +The orientation of the end effector can be locked.
211 211  )))
212 212  | |(% colspan="2" rowspan="1" %)(((
213 213  == Direct Command ==
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226 226  | |(% colspan="2" rowspan="1" %)(((
227 227  == Telemetry ==
228 228  )))
229 -| |(% colspan="2" %)[[image:ses-pro-robotic-arm-ui-telemetry.png]]
230 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-drop.png]]|(((
209 +| |(% style="text-align:center; vertical-align:middle" %) |(((
231 231  **Data to Display**
232 232  
233 233  Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
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244 244  * PCB Temperature
245 245  * Probe Temperature
246 246  )))
247 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-hide.png]]|(((
226 +| |(% style="text-align:center; vertical-align:middle" %) |(((
248 248  **Display / Hide **
249 249  
250 250  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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358 358  | |(% style="text-align:center; vertical-align:middle" %) |
359 359  | |(% style="text-align:center; vertical-align:middle" %) |
360 360  
361 -
340 +{{comment}}
362 362  = =
363 363  
364 364  = User Guide =
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