Wiki source code of SES-PRO Robotic Arm UI

Version 30.1 by Eric Nantel on 2024/10/10 09:32

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Eric Nantel 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"/}}
Eric Nantel 5.1 2
Eric Nantel 7.1 3 [[image:[email protected]]]
Eric Nantel 5.1 4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
Eric Nantel 30.1 11 The Lynxmotion Servo Erector Set Professional (SES PRO) Robotic Arm User Interface (UI) 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.
Eric Nantel 5.1 12
13 = Features =
14
Coleman Benson 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)
Eric Nantel 12.1 21
Eric Nantel 29.1 22 __Compatibility: Windows 7 Operating System or above__
23
Eric Nantel 25.1 24 |(% colspan="2" %)(((
Eric Nantel 25.2 25 = User Guide =
Eric Nantel 25.1 26 )))
Eric Nantel 26.1 27 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.1 28 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:
29
30 * 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
31 * 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
32 )))
Eric Nantel 25.2 33 |(% colspan="2" %)(((
34 == IMPORTANT ==
35 )))
Eric Nantel 26.1 36 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 37 === Payload Considerations ===
38
39 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.
40 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.
41 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.
42 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".
43 )))
Eric Nantel 26.1 44 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 45 === Emergency ===
46
47 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:
48
49 **Halt & Hold**
50
51 This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
52
53 **Limp**
54
55 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>.
56
57 **Software Stop**
58
59 The E-stop button within the software sets all joints to limp.
60
61 **Hardware E-Stop**
62 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.
63 )))
64 |(% colspan="2" %)(((
65 == Arm Connection ==
66 )))
Eric Nantel 26.1 67 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 68 **Model**
69
70 The software currently supports the following Lynxmotion PRO Arms:
71
72 * 550mm 5DoF
73 * 550mm 6DoF
74 * 900mm 5DoF
75 * 900mm 6DoF
76
77 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.
78
79 **COM Port**
80
81 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. 
82
83 **Connect**
84
85 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.
86 )))
87 |(% colspan="2" %)(((
88 == Gripper Controls ==
89 )))
Eric Nantel 26.1 90 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 91 **Model**
92
93 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.
94
95 * PGE-50-40 (40mm default configuration)
96 * PGE-50-40 (60mm configuration)
97 * PGE-50-40 (80mm configuration)
98 * CGE-10-10 (20mm configuration)
99 * CGE-10-10 (40mm configuration)
100 * CGE-10-10 (60mm configuration)
101
102 **COM Port**
103
104 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
105
106 **Baudrate**
107
Eric Nantel 27.2 108 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.
Eric Nantel 25.2 109
110 **Initialize**
111
112 Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
113
114 **Connect**
115
116 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.
117
118 **Speed**
119
120 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.
121
122 **Force**
123
124 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.
125
126 **Open / Close**
127
128 These are shortcut buttons to either fully open or fully close the gripper.
129
130 **Sequencer**
131
132 The sequencer displays the gripper position as joint 7 (J7).
133
134 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.
135 )))
Eric Nantel 25.3 136 |(% colspan="2" %)(((
137 == 3D Model ==
138 )))
Eric Nantel 26.1 139 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.3 140 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.
141
142 **View Controls**
143
144 Zoom: Shift + Middle Scroll
145
146 Rotate: Shift + Middle Mouse
147
148 Pan: None
149 )))
150 |(% colspan="2" %)(((
151 == Manual Move ==
152 )))
Eric Nantel 26.1 153 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.3 154 **Angular Control**
155
156 In angular mode, the user can control the angle of each joint
157
158 **Coordinates Control**
159
160 In coordinate control the user can control the cartesian position of the end effector
161
162 **End Effector Lock**
163
164 The orientation of the end effector can be locked.
165 )))
166 |(% colspan="2" %)(((
167 == Direct Command ==
168 )))
Eric Nantel 26.1 169 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.3 170 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.
171
172 A few things to keep in mind when using this:
173
174 * Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
175 * Sending commands does not require ‘#’ and ‘\r’ chars.
176 ** example for #2\r you should enter 2Q and press the "SEND" button
177 * The commands are validated, and it shows a notification in case of error.
178 * The replies of queries are shown in the text field below.
179 )))
Eric Nantel 26.1 180 |(% colspan="2" %)(((
181 == Command Output ==
182 )))
183 |(% style="width:26px" %) |(% style="width:1452px" %)(((
184 //{Coming Soon}//
185 )))
186 |(% colspan="2" %)(((
187 == Telemetry ==
188 )))
189 |(% style="width:26px" %) |(% style="width:1452px" %)(((
190 **Data to Display**
Eric Nantel 25.1 191
Eric Nantel 27.3 192 Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
193
Eric Nantel 27.2 194 * Position
195 * Current
196 * Linear Accel X
197 * Linear Accel Y
198 * Linear Accel Z
199 * Angular Accel α
200 * Angular Accel β
201 * Angular Accel γ
202 * MCU Temperature
203 * PCB Temperature
204 * Probe Temperature
Eric Nantel 26.1 205
Eric Nantel 27.3 206 **Display / Hide **
Eric Nantel 26.1 207
Eric Nantel 27.3 208 At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
Eric Nantel 26.1 209 )))
210 |(% colspan="2" style="width:26px" %)(((
211 == Sequencer ==
212 )))
213 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 28.1 214 **Sequence**
Eric Nantel 26.1 215
Eric Nantel 28.1 216 Add
Eric Nantel 26.1 217
Eric Nantel 28.1 218 Substract
Eric Nantel 26.1 219
Eric Nantel 28.1 220 Copy
221
222 Save
223
224 Open
225
226 Delete
227
Eric Nantel 26.1 228 //{Coming Soon}//
229
Eric Nantel 28.1 230 **Frames**
Eric Nantel 26.1 231
Eric Nantel 28.1 232 Add
Eric Nantel 26.1 233
Eric Nantel 28.1 234 Sequence Selector
Eric Nantel 26.1 235
Eric Nantel 28.1 236 Record
Eric Nantel 26.1 237
Eric Nantel 28.1 238 Delete
Eric Nantel 26.1 239
Eric Nantel 28.1 240 Copy
Eric Nantel 26.1 241
Eric Nantel 28.1 242 Paste
243
244 Swap
245
246 Manual Edit
247
248 Time, angles, gripper
249
250 Moving Frames
251
252 //Alt + Left Click = Drag time//
253
Eric Nantel 26.1 254 //{Coming Soon}//
255
256 **Errors**
257
258 //{Coming Soon}//
259 )))
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Eric Nantel 27.1 315 {{comment}}
Eric Nantel 25.1 316 = =
317
Eric Nantel 15.1 318 = User Guide =
319
Coleman Benson 24.1 320 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:
Eric Nantel 16.1 321
Coleman Benson 23.1 322 * 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
323 * 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
Eric Nantel 16.1 324
Coleman Benson 23.1 325 == IMPORTANT: Payload Considerations ==
Eric Nantel 16.1 326
Coleman Benson 23.1 327 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.
328 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.
329 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.
330 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".
Eric Nantel 16.1 331
Coleman Benson 23.1 332 == IMPORTANT: Emergency ==
Eric Nantel 16.1 333
Coleman Benson 23.1 334 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:
Eric Nantel 16.3 335
Coleman Benson 23.1 336 **Halt & Hold**
Coleman Benson 24.1 337
Coleman Benson 23.1 338 This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
Eric Nantel 16.3 339
Coleman Benson 23.1 340 **Limp**
Coleman Benson 24.1 341
Coleman Benson 23.1 342 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>.
Eric Nantel 15.1 343
Coleman Benson 23.1 344 **Software Stop**
345
346 The E-stop button within the software sets all joints to limp.
347
348 **Hardware E-Stop**
349 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.
350
351 == Arm Connection ==
352
Eric Nantel 17.1 353 **Model**
Eric Nantel 15.1 354
Coleman Benson 24.1 355 The software currently supports the following Lynxmotion PRO Arms:
Coleman Benson 23.1 356
Coleman Benson 24.1 357 * 550mm 5DoF
358 * 550mm 6DoF
359 * 900mm 5DoF
360 * 900mm 6DoF
Eric Nantel 16.2 361
Coleman Benson 24.1 362 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.
363
364 **COM Port**
365
Coleman Benson 23.1 366 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. 
367
Eric Nantel 17.1 368 **Connect**
Eric Nantel 16.2 369
Coleman Benson 24.1 370 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.
Eric Nantel 15.1 371
Coleman Benson 24.1 372 == Gripper Controls ==
373
Eric Nantel 17.1 374 **Model**
Eric Nantel 15.1 375
Coleman Benson 23.1 376 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.
377
Coleman Benson 24.1 378 * PGE-50-40 (40mm default configuration)
379 * PGE-50-40 (60mm configuration)
380 * PGE-50-40 (80mm configuration)
381 * CGE-10-10 (20mm configuration)
382 * CGE-10-10 (40mm configuration)
383 * CGE-10-10 (60mm configuration)
Eric Nantel 16.2 384
Coleman Benson 24.1 385 **COM Port**
Coleman Benson 23.1 386
Coleman Benson 24.1 387 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
388
Eric Nantel 17.1 389 **Baudrate**
Eric Nantel 16.2 390
Coleman Benson 24.1 391 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.
Coleman Benson 23.1 392
Coleman Benson 24.1 393 **Initialize**
Eric Nantel 16.2 394
Coleman Benson 24.1 395 Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
Coleman Benson 23.1 396
Coleman Benson 24.1 397 **Connect**
Eric Nantel 16.2 398
Coleman Benson 24.1 399 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.
Coleman Benson 23.1 400
Eric Nantel 17.1 401 **Speed**
Eric Nantel 16.2 402
Coleman Benson 24.1 403 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.
Coleman Benson 23.1 404
Eric Nantel 17.1 405 **Force**
Eric Nantel 16.2 406
Coleman Benson 24.1 407 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.
Coleman Benson 23.1 408
Eric Nantel 17.1 409 **Open / Close**
Eric Nantel 16.2 410
Coleman Benson 24.1 411 These are shortcut buttons to either fully open or fully close the gripper.
Eric Nantel 16.4 412
Coleman Benson 24.1 413 **Sequencer**
414
415 The sequencer displays the gripper position as joint 7 (J7).
416
417 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.
418
Coleman Benson 23.1 419 == 3D Model ==
Eric Nantel 16.4 420
Coleman Benson 23.1 421 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.
422
423 **View Controls**
424
Coleman Benson 24.1 425 Zoom: Shift + Middle Scroll
Coleman Benson 23.1 426
Coleman Benson 24.1 427 Rotate: Shift + Middle Mouse
428
429 Pan: None
430
Coleman Benson 23.1 431 == Manual Move ==
432
433 **Angular Control**
434
435 In angular mode, the user can control the angle of each joint
436
Eric Nantel 16.4 437 **Coordinates Control**
438
Coleman Benson 23.1 439 In coordinate control the user can control the cartesian position of the end effector
440
441 **End Effector Lock**
442
443 The orientation of the end effector can be locked.
444
Eric Nantel 15.2 445 == Direct Command ==
Eric Nantel 15.1 446
Eric Nantel 15.2 447 This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
Eric Nantel 15.1 448
Eric Nantel 15.2 449 A few things to keep in mind when using this:
Eric Nantel 15.1 450
Eric Nantel 15.2 451 * Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
452 * Sending commands does not require ‘#’ and ‘\r’ chars.
453 ** example for #2\r you should enter 2Q and press the "SEND" button
Eric Nantel 12.1 454 * The commands are validated, and it shows a notification in case of error.
Eric Nantel 15.2 455 * The replies of queries are shown in the text field below.
Eric Nantel 12.1 456
Coleman Benson 23.1 457 == Command Output ==
458
459 //{Coming Soon}//
460
Eric Nantel 16.3 461 == Telemetry ==
462
Eric Nantel 17.1 463 **Data to Display**
Eric Nantel 16.3 464
Coleman Benson 23.1 465 //{Coming Soon}//
466
Eric Nantel 17.1 467 **Display / Hide Actuator**
Eric Nantel 16.3 468
Coleman Benson 23.1 469 //{Coming Soon}//
470
Coleman Benson 24.1 471 == Sequencer ==
Coleman Benson 23.1 472
473 **Frames**
474
475 //{Coming Soon}//
476
477 **Record **
478
479 //{Coming Soon}//
480
481 **Edit **
482
483 Time, angles, gripper
484
Coleman Benson 24.1 485 //Alt + Left Click = Drag time//
Coleman Benson 23.1 486
487 **Reorder**
488
489 //{Coming Soon}//
490
491 **Play**
492
493 //{Coming Soon}//
494
495 **Errors**
496
497 //{Coming Soon}//
Eric Nantel 27.1 498 {{/comment}}
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