Wiki source code of SES-PRO Robotic Arm UI

Version 23.1 by Coleman Benson on 2024/10/08 18:19

11.1	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"/}}
5.1	2
7.1	3	[[image:[email protected]]]
5.1	4
	5	Table of Contents
	6
	7	{{toc/}}
	8
	9	= Description =
	10
23.1	11	The Lynxmotion Servo Erector Set Professional (SES PRO) Arm Interface 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.
5.1	12
	13	= Features =
	14
23.1	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)
12.1	21
15.1	22	= User Guide =
	23
23.1	24	Before proceeding with the guide, it is important to note the following:
16.1	25
23.1	26	* 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
	27	* 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
16.1	28
23.1	29	== IMPORTANT: Payload Considerations ==
16.1	30
23.1	31	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.
	32	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.
	33	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.
	34	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".
16.1	35
23.1	36	== IMPORTANT: Emergency ==
16.1	37
23.1	38	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:
16.3	39
23.1	40	Halt & Hold
	41	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
16.3	42
23.1	43	Limp
	44	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>.
15.1	45
23.1	46	Software Stop
	47
	48	The E-stop button within the software sets all joints to limp.
	49
	50	Hardware E-Stop
	51	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.
	52
	53	== Arm Connection ==
	54
17.1	55	Model
15.1	56
23.1	57	The software currently supports the Lynxmotion PRO 550mm 5 degree of freedom (5 DoF), 550mm 6DoF, 900mm 5DoF and 900mm 6DoF robotic arm configurations. In practice, each 5DoF has joint 4 at a fixed angle.
	58
17.1	59	Serial COM Port
16.2	60
23.1	61	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.
	62
17.1	63	Connect
16.2	64
23.1	65	== Gripper Connection ==
15.1	66
17.1	67	Model
15.1	68
23.1	69	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.
	70
17.1	71	Serial COM Port
16.2	72
23.1	73	//{Coming Soon}//
	74
17.1	75	Baudrate
16.2	76
23.1	77	//{Coming Soon}//
	78
17.1	79	Connect
16.2	80
23.1	81	//{Coming Soon}//
	82
17.1	83	Calibrate
16.2	84
23.1	85	//{Coming Soon}//
	86
17.1	87	Speed
16.2	88
23.1	89	//{Coming Soon}//
	90
17.1	91	Force
16.2	92
23.1	93	//{Coming Soon}//
	94
17.1	95	Open / Close
16.2	96
23.1	97	//{Coming Soon}//
16.4	98
23.1	99	== 3D Model ==
16.4	100
23.1	101	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.
	102
	103	View Controls
	104
	105	//{Coming Soon}//
	106
	107	== Manual Move ==
	108
	109	Angular Control
	110
	111	In angular mode, the user can control the angle of each joint
	112
16.4	113	Coordinates Control
	114
23.1	115	In coordinate control the user can control the cartesian position of the end effector
	116
	117	End Effector Lock
	118
	119	The orientation of the end effector can be locked.
	120
15.2	121	== Direct Command ==
15.1	122
15.2	123	This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
15.1	124
15.2	125	A few things to keep in mind when using this:
15.1	126
15.2	127	* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	128	* Sending commands does not require ‘#’ and ‘\r’ chars.
	129	** example for #2\r you should enter 2Q and press the "SEND" button
12.1	130	* The commands are validated, and it shows a notification in case of error.
15.2	131	* The replies of queries are shown in the text field below.
12.1	132
23.1	133	== Command Output ==
	134
	135	//{Coming Soon}//
	136
16.3	137	== Telemetry ==
	138
17.1	139	Data to Display
16.3	140
23.1	141	//{Coming Soon}//
	142
17.1	143	Display / Hide Actuator
16.3	144
23.1	145	//{Coming Soon}//
	146
	147	== Sequencer ==
	148
	149	Frames
	150
	151	//{Coming Soon}//
	152
	153	Record
	154
	155	//{Coming Soon}//
	156
	157	Edit
	158
	159	Time, angles, gripper
	160
	161	//{Coming Soon}//
	162
	163	Reorder
	164
	165	//{Coming Soon}//
	166
	167	Play
	168
	169	//{Coming Soon}//
	170
	171	Errors
	172
	173	//{Coming Soon}//

Wiki source code of SES-PRO Robotic Arm UI

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