Wiki source code of SES-PRO Robotic Arm UI

Version 25.3 by Eric Nantel on 2024/10/09 16:02

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
24.1	9	= Installation =
	10
	11	Windows 7 Operating System or above
	12
5.1	13	= Description =
	14
23.1	15	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	16
	17	= Features =
	18
23.1	19	* Angular and cartesian positioning of the end effector
	20	* 3D graphical display of the appropriate robotic arm and end effector
	21	* Sequencer to record and play back frames (single, looped or infinite)
	22	* Error checking (speed, temperature etc.)
	23	* Command output and user input
	24	* Safety (Software E-Stop, Halt&Hold & Limp)
12.1	25
25.1	26	\|(% colspan="2" %)(((
25.2	27	= User Guide =
25.1	28	)))
	29	\|(% style="width:25px" %) \|(((
	30	Pressing the i "Information" icon in the software will bring you to this page. Before proceeding with the guide, it is important to note the following:
	31
	32	* 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
	33	* 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
	34	)))
25.2	35	\|(% colspan="2" %)(((
	36	== IMPORTANT ==
	37	)))
	38	\| \|(((
	39	=== Payload Considerations ===
	40
	41	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.
	42	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.
	43	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.
	44	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".
	45	)))
	46	\| \|(((
	47	=== Emergency ===
	48
	49	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:
	50
	51	Halt & Hold
	52
	53	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
	54
	55	Limp
	56
	57	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>.
	58
	59	Software Stop
	60
	61	The E-stop button within the software sets all joints to limp.
	62
	63	Hardware E-Stop
	64	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.
	65	)))
	66	\|(% colspan="2" %)(((
	67	== Arm Connection ==
	68	)))
	69	\| \|(((
	70	Model
	71
	72	The software currently supports the following Lynxmotion PRO Arms:
	73
	74	* 550mm 5DoF
	75	* 550mm 6DoF
	76	* 900mm 5DoF
	77	* 900mm 6DoF
	78
	79	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.
	80
	81	COM Port
	82
	83	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.
	84
	85	Connect
	86
	87	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.
	88	)))
	89	\|(% colspan="2" %)(((
	90	== Gripper Controls ==
	91	)))
	92	\| \|(((
	93	Model
	94
	95	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.
	96
	97	* PGE-50-40 (40mm default configuration)
	98	* PGE-50-40 (60mm configuration)
	99	* PGE-50-40 (80mm configuration)
	100	* CGE-10-10 (20mm configuration)
	101	* CGE-10-10 (40mm configuration)
	102	* CGE-10-10 (60mm configuration)
	103
	104	COM Port
	105
	106	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
	107
	108	Baudrate
	109
	110	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 teh software.
	111
	112	Initialize
	113
	114	Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
	115
	116	Connect
	117
	118	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.
	119
	120	Speed
	121
	122	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.
	123
	124	Force
	125
	126	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.
	127
	128	Open / Close
	129
	130	These are shortcut buttons to either fully open or fully close the gripper.
	131
	132	Sequencer
	133
	134	The sequencer displays the gripper position as joint 7 (J7).
	135
	136	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.
	137	)))
25.3	138	\|(% colspan="2" %)(((
	139	== 3D Model ==
	140	)))
	141	\| \|(((
	142	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.
	143
	144	View Controls
	145
	146	Zoom: Shift + Middle Scroll
	147
	148	Rotate: Shift + Middle Mouse
	149
	150	Pan: None
	151	)))
	152	\|(% colspan="2" %)(((
	153	== Manual Move ==
	154	)))
	155	\| \|(((
	156	Angular Control
	157
	158	In angular mode, the user can control the angle of each joint
	159
	160	Coordinates Control
	161
	162	In coordinate control the user can control the cartesian position of the end effector
	163
	164	End Effector Lock
	165
	166	The orientation of the end effector can be locked.
	167	)))
	168	\|(% colspan="2" %)(((
	169	== Direct Command ==
	170	)))
	171	\| \|(((
	172	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.
	173
	174	A few things to keep in mind when using this:
	175
	176	* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	177	* Sending commands does not require ‘#’ and ‘\r’ chars.
	178	** example for #2\r you should enter 2Q and press the "SEND" button
	179	* The commands are validated, and it shows a notification in case of error.
	180	* The replies of queries are shown in the text field below.
	181	)))
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	242
	243	= =
	244
15.1	245	= User Guide =
	246
24.1	247	Pressing the i "Information" icon in the software will bring you to this page. Before proceeding with the guide, it is important to note the following:
16.1	248
23.1	249	* 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
	250	* 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	251
23.1	252	== IMPORTANT: Payload Considerations ==
16.1	253
23.1	254	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.
	255	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.
	256	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.
	257	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	258
23.1	259	== IMPORTANT: Emergency ==
16.1	260
23.1	261	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	262
23.1	263	Halt & Hold
24.1	264
23.1	265	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
16.3	266
23.1	267	Limp
24.1	268
23.1	269	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	270
23.1	271	Software Stop
	272
	273	The E-stop button within the software sets all joints to limp.
	274
	275	Hardware E-Stop
	276	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.
	277
	278	== Arm Connection ==
	279
17.1	280	Model
15.1	281
24.1	282	The software currently supports the following Lynxmotion PRO Arms:
23.1	283
24.1	284	* 550mm 5DoF
	285	* 550mm 6DoF
	286	* 900mm 5DoF
	287	* 900mm 6DoF
16.2	288
24.1	289	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.
	290
	291	COM Port
	292
23.1	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
17.1	295	Connect
16.2	296
24.1	297	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.
15.1	298
24.1	299	== Gripper Controls ==
	300
17.1	301	Model
15.1	302
23.1	303	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.
	304
24.1	305	* PGE-50-40 (40mm default configuration)
	306	* PGE-50-40 (60mm configuration)
	307	* PGE-50-40 (80mm configuration)
	308	* CGE-10-10 (20mm configuration)
	309	* CGE-10-10 (40mm configuration)
	310	* CGE-10-10 (60mm configuration)
16.2	311
24.1	312	COM Port
23.1	313
24.1	314	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
	315
17.1	316	Baudrate
16.2	317
24.1	318	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 teh software.
23.1	319
24.1	320	Initialize
16.2	321
24.1	322	Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
23.1	323
24.1	324	Connect
16.2	325
24.1	326	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.
23.1	327
17.1	328	Speed
16.2	329
24.1	330	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.
23.1	331
17.1	332	Force
16.2	333
24.1	334	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.
23.1	335
17.1	336	Open / Close
16.2	337
24.1	338	These are shortcut buttons to either fully open or fully close the gripper.
16.4	339
24.1	340	Sequencer
	341
	342	The sequencer displays the gripper position as joint 7 (J7).
	343
	344	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.
	345
23.1	346	== 3D Model ==
16.4	347
23.1	348	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.
	349
	350	View Controls
	351
24.1	352	Zoom: Shift + Middle Scroll
23.1	353
24.1	354	Rotate: Shift + Middle Mouse
	355
	356	Pan: None
	357
23.1	358	== Manual Move ==
	359
	360	Angular Control
	361
	362	In angular mode, the user can control the angle of each joint
	363
16.4	364	Coordinates Control
	365
23.1	366	In coordinate control the user can control the cartesian position of the end effector
	367
	368	End Effector Lock
	369
	370	The orientation of the end effector can be locked.
	371
15.2	372	== Direct Command ==
15.1	373
15.2	374	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	375
15.2	376	A few things to keep in mind when using this:
15.1	377
15.2	378	* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	379	* Sending commands does not require ‘#’ and ‘\r’ chars.
	380	** example for #2\r you should enter 2Q and press the "SEND" button
12.1	381	* The commands are validated, and it shows a notification in case of error.
15.2	382	* The replies of queries are shown in the text field below.
12.1	383
23.1	384	== Command Output ==
	385
	386	//{Coming Soon}//
	387
16.3	388	== Telemetry ==
	389
17.1	390	Data to Display
16.3	391
23.1	392	//{Coming Soon}//
	393
17.1	394	Display / Hide Actuator
16.3	395
23.1	396	//{Coming Soon}//
	397
24.1	398	== Sequencer ==
23.1	399
	400	Frames
	401
	402	//{Coming Soon}//
	403
	404	Record
	405
	406	//{Coming Soon}//
	407
	408	Edit
	409
	410	Time, angles, gripper
	411
24.1	412	//Alt + Left Click = Drag time//
23.1	413
	414	Reorder
	415
	416	//{Coming Soon}//
	417
	418	Play
	419
	420	//{Coming Soon}//
	421
	422	Errors
	423
	424	//{Coming Soon}//

Wiki source code of SES-PRO Robotic Arm UI

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