Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 77.1 >
edited by Eric Nantel
on 2024/10/16 14:32
To version < 53.1 >
edited by Eric Nantel
on 2024/10/16 12:46
< >
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -21,11 +21,7 @@
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  )))
... ... @@ -35,7 +35,7 @@
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  )))
... ... @@ -108,9 +108,9 @@
108 108  | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
109 109  **Model**
110 110  
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.
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 J7.
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.
... ... @@ -165,12 +165,9 @@
165 165  | |(% style="text-align:center; vertical-align:middle" %) |(((
166 166  **Sequencer**
167 167  
168 -The sequencer displays the gripper position as joint G.
155 +The sequencer displays the gripper position as joint 7 (J7).
169 169  
170 -Ex: #GP1000
171 -This command would be open the **G**ripper to **P**osition 100.0%
172 -
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.
157 +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.
174 174  )))
175 175  | |(% colspan="2" rowspan="1" %)(((
176 176  == 3D Model ==
... ... @@ -178,7 +178,7 @@
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
... ... @@ -190,24 +190,20 @@
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 ==
... ... @@ -223,11 +223,206 @@
223 223  * The commands are validated, and it shows a notification in case of error.
224 224  * The replies of queries are shown in the text field below.
225 225  )))
226 -| |(% colspan="2" rowspan="1" %)(((
206 +| |(% style="text-align:center; vertical-align:middle" %) |
207 +| |(% style="text-align:center; vertical-align:middle" %) |
208 +| |(% style="text-align:center; vertical-align:middle" %) |
209 +| |(% style="text-align:center; vertical-align:middle" %) |
210 +| |(% style="text-align:center; vertical-align:middle" %) |
211 +| |(% style="text-align:center; vertical-align:middle" %) |
212 +| |(% style="text-align:center; vertical-align:middle" %) |
213 +| |(% style="text-align:center; vertical-align:middle" %) |
214 +| |(% style="text-align:center; vertical-align:middle" %) |
215 +| |(% style="text-align:center; vertical-align:middle" %) |
216 +| |(% style="text-align:center; vertical-align:middle" %) |
217 +| |(% style="text-align:center; vertical-align:middle" %) |
218 +| |(% style="text-align:center; vertical-align:middle" %) |
219 +| |(% style="text-align:center; vertical-align:middle" %) |
220 +| |(% style="text-align:center; vertical-align:middle" %) |
221 +
222 +|(% colspan="2" %)(((
223 += User Guide =
224 +)))
225 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
226 +Before proceeding with the guide, it is important to note the following:
227 +
228 +* 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
229 +* 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
230 +
231 +Pressing the i "Information" icon in the software will bring you to this page.
232 +
233 +[[image:ses-pro-robotic-arm-ui-info.png]]
234 +)))
235 +|(% colspan="2" %)(((
236 +== IMPORTANT ==
237 +)))
238 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
239 +=== Payload Considerations ===
240 +
241 +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.
242 +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.
243 +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.
244 +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".
245 +)))
246 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
247 +=== Emergency ===
248 +
249 +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:
250 +
251 +**Halt (and hold)**
252 +
253 +**[[image:ses-pro-robotic-arm-ui-halt.png]]**
254 +
255 +This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
256 +
257 +**Limp**
258 +
259 +**[[image:ses-pro-robotic-arm-ui-limp.png]]**
260 +
261 +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>.
262 +
263 +**Software E-Stop**
264 +
265 +**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
266 +
267 +The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
268 +
269 +**Power Supply E-Stop**
270 +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.
271 +)))
272 +|(% colspan="2" %)(((
273 +== Arm Connection ==
274 +)))
275 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
276 +**Model**
277 +
278 +**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
279 +
280 +The software currently supports the following Lynxmotion PRO Arms:
281 +
282 +* 550mm 5DoF
283 +* 550mm 6DoF
284 +* 900mm 5DoF
285 +* 900mm 6DoF
286 +
287 +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.
288 +
289 +**COM Port**
290 +
291 +**[[image:ses-pro-robotic-arm-ui-com.png]]**
292 +
293 +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. 
294 +
295 +**Connect / Disconnect**
296 +
297 +[[image:ses-pro-robotic-arm-ui-connect.png]]
298 +
299 +[[image:ses-pro-robotic-arm-ui-disconnect.png]]
300 +
301 +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.
302 +)))
303 +|(% colspan="2" %)(((
304 +== Gripper Controls ==
305 +)))
306 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
307 +**Model**
308 +
309 +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.
310 +
311 +* PGE-50-40 (40mm default configuration)
312 +* PGE-50-40 (60mm configuration)
313 +* PGE-50-40 (80mm configuration)
314 +* CGE-10-10 (20mm configuration)
315 +* CGE-10-10 (40mm configuration)
316 +* CGE-10-10 (60mm configuration)
317 +
318 +**COM Port**
319 +
320 +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
321 +
322 +**Baudrate**
323 +
324 +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.
325 +
326 +**Initialize**
327 +
328 +Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
329 +
330 +**Connect**
331 +
332 +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.
333 +
334 +**Speed**
335 +
336 +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.
337 +
338 +**Force**
339 +
340 +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.
341 +
342 +**Open / Close**
343 +
344 +These are shortcut buttons to either fully open or fully close the gripper.
345 +
346 +**Sequencer**
347 +
348 +The sequencer displays the gripper position as joint 7 (J7).
349 +
350 +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.
351 +)))
352 +|(% colspan="2" %)(((
353 +== 3D Model ==
354 +)))
355 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
356 +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.
357 +
358 +**View Controls**
359 +
360 +Zoom: Shift + Middle Scroll
361 +
362 +Rotate: Shift + Middle Mouse
363 +
364 +Pan: None
365 +)))
366 +|(% colspan="2" %)(((
367 +== Manual Move ==
368 +)))
369 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
370 +**Angular Control**
371 +
372 +In angular mode, the user can control the angle of each joint
373 +
374 +**Coordinates Control**
375 +
376 +In coordinate control the user can control the cartesian position of the end effector
377 +
378 +**End Effector Lock**
379 +
380 +The orientation of the end effector can be locked.
381 +)))
382 +|(% colspan="2" %)(((
383 +== Direct Command ==
384 +)))
385 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
386 +This section allow the user to send commands using the [[LSS-PRO Communication Protocol>>path:/info/wiki/lynxmotion/view/ses-pro/lss-pro/lss-p-communication-protocol/]] directly if required.
387 +
388 +A few things to keep in mind when using this:
389 +
390 +* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
391 +* Sending commands does not require ‘#’ and ‘\r’ chars.
392 +** example for #2\r you should enter 2Q and press the "SEND" button
393 +* The commands are validated, and it shows a notification in case of error.
394 +* The replies of queries are shown in the text field below.
395 +)))
396 +|(% colspan="2" %)(((
397 +== Command Output ==
398 +)))
399 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
400 +//{Coming Soon}//
401 +)))
402 +|(% colspan="2" %)(((
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]]|(((
405 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
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:
... ... @@ -243,122 +243,117 @@
243 243  * MCU Temperature
244 244  * PCB Temperature
245 245  * Probe Temperature
246 -)))
247 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-hide.png]]|(((
421 +
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.
251 251  )))
252 -| |(% colspan="2" rowspan="1" %)(((
426 +|(% colspan="2" style="width:26px" %)(((
253 253  == Sequencer ==
254 254  )))
255 -| |(% colspan="2" rowspan="1" %)**Sequence**
256 -| |(% style="text-align:center; vertical-align:middle" %) |(((
257 -**Sequence Selector**
429 +|(% style="width:26px" %) |(% style="width:1452px" %)(((
430 +**Sequence**
258 258  
259 -
260 -)))
261 -| |(% style="text-align:center; vertical-align:middle" %) |(((
262 -**Add**
432 +Add
263 263  
264 -
265 -)))
266 -| |(% style="text-align:center; vertical-align:middle" %) |(((
267 -**Substract**
434 +Substract
268 268  
269 -
270 -)))
271 -| |(% style="text-align:center; vertical-align:middle" %) |(((
272 -**Copy**
436 +Copy
273 273  
274 -
275 -)))
276 -| |(% style="text-align:center; vertical-align:middle" %) |(((
277 -**Save**
438 +Save
278 278  
279 -
280 -)))
281 -| |(% style="text-align:center; vertical-align:middle" %) |(((
282 -**Open**
440 +Open
283 283  
284 -
285 -)))
286 -| |(% style="text-align:center; vertical-align:middle" %) |(((
287 -**Delete**
442 +Delete
288 288  
289 -
290 -)))
291 -| |(% colspan="2" rowspan="1" %)**Frames**
292 -| |(% style="text-align:center; vertical-align:middle" %) |(((
293 -**Add**
444 +//{Coming Soon}//
294 294  
295 -
296 -)))
297 -| |(% style="text-align:center; vertical-align:middle" %) |(((
298 -**Sequence Selector**
446 +**Frames**
299 299  
300 -
301 -)))
302 -| |(% style="text-align:center; vertical-align:middle" %) |(((
303 -**Record**
448 +Add
304 304  
305 -
306 -)))
307 -| |(% style="text-align:center; vertical-align:middle" %) |(((
308 -**Delete**
450 +Sequence Selector
309 309  
310 -
311 -)))
312 -| |(% style="text-align:center; vertical-align:middle" %) |(((
313 -**Copy**
452 +Record
314 314  
315 -
316 -)))
317 -| |(% style="text-align:center; vertical-align:middle" %) |(((
318 -**Paste**
454 +Delete
319 319  
320 -
321 -)))
322 -| |(% style="text-align:center; vertical-align:middle" %) |(((
323 -**Swap**
456 +Copy
324 324  
325 -
326 -)))
327 -| |(% style="text-align:center; vertical-align:middle" %) |(((
328 -**Frame Name**
458 +Paste
329 329  
330 -
331 -)))
332 -| |(% style="text-align:center; vertical-align:middle" %) |(((
333 -**Frame length**
460 +Swap
334 334  
335 -//Alt + Left Click = Drag time//
336 -)))
337 -| |(% style="text-align:center; vertical-align:middle" %) |(((
338 -**Frame Move**
462 +Manual Edit
339 339  
340 -
341 -)))
342 -| |(% style="text-align:center; vertical-align:middle" %) |(((
343 -**Loop**
464 +Time, angles, gripper
344 344  
345 -
346 -)))
347 -| |(% style="text-align:center; vertical-align:middle" %) |(((
348 -**Manual Edit**
466 +Moving Frames
349 349  
350 -Time, angles, gripper
351 -)))
352 -| |(% style="text-align:center; vertical-align:middle" %) |(((
353 -**Zoom**
468 +//Alt + Left Click = Drag time//
354 354  
355 -
356 -)))
357 -| |(% colspan="2" rowspan="1" %)**Errors**
358 -| |(% style="text-align:center; vertical-align:middle" %) |
359 -| |(% style="text-align:center; vertical-align:middle" %) |
470 +//{Coming Soon}//
360 360  
472 +**Errors**
361 361  
474 +//{Coming Soon}//
475 +)))
476 +|(% style="width:26px" %) |(% style="width:1452px" %)
477 +|(% style="width:26px" %) |(% style="width:1452px" %)
478 +|(% style="width:26px" %) |(% style="width:1452px" %)
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531 +{{comment}}
362 362  = =
363 363  
364 364  = User Guide =
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