Wiki source code of SES-PRO Robotic Arm UI

Version 49.1 by Eric Nantel on 2024/10/16 12:34
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Eric Nantel 34.1 1 {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-software/ses-pro-arm-ui/WebHome/SES-PRO-Robotic-Arm-UI.png" width="350"/}}
Eric Nantel 5.1 2
Eric Nantel 38.1 3 [[[[image:[email protected]]]>>https://lynxmotion.com/tools/ses-pro-app/lynxmotion_ses_pro_robotic_arm_ui_stable.exe]]
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 48.1 24
25 |(% colspan="3" %)(((
26 = User Guide =
27 )))
Eric Nantel 48.2 28 |(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
Eric Nantel 48.1 29 Before proceeding with the guide, it is important to note the following:
30
31 * 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
32 * 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
33 )))
Eric Nantel 49.1 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.
Eric Nantel 48.1 35 | |(% colspan="2" rowspan="1" %)(((
36 == IMPORTANT ==
37 )))
38 | |(% colspan="2" rowspan="1" %)(((
39 === Payload Considerations ===
40 )))
41 | |(% style="text-align:center; vertical-align:middle" %) |(((
42 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.
43 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.
44 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.
45 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".
46 )))
47 | |(% colspan="2" rowspan="1" %)(((
48 === Emergency ===
49 )))
Eric Nantel 49.1 50 | |(% colspan="2" rowspan="1" %)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. 
Eric Nantel 48.1 51 The following emergency options are available based on severity:
52 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]|(((
53 **Halt (and hold)**
54
55 This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
56 )))
57 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((
58 **Limp**
59
60 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>.
61 )))
62 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]|(((
63 **Software E-Stop**
64
65 The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
66 )))
67 | |(% style="text-align:center; vertical-align:middle" %) |(((
68 **Power Supply E-Stop**
69
70 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.
71 )))
Eric Nantel 49.1 72 | |(% colspan="2" rowspan="1" %)(((
73 == Arm Connection ==
74 )))
75 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
76 **Model**
77
78 The software currently supports the following Lynxmotion PRO Arms:
79
80 * 550mm 5DoF
81 * 550mm 6DoF
82 * 900mm 5DoF
83 * 900mm 6DoF
84
85 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.
86 )))
87 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]|(((
88 **COM Port**
89
90 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.
91 )))
92 | |(% style="text-align:center; vertical-align:middle" %)(((
93 [[image:ses-pro-robotic-arm-ui-connect.png]]
94
95 [[image:ses-pro-robotic-arm-ui-disconnect.png]]
96 )))|(((
97 **Connect / Disconnect**
98
99 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.
100 )))
101 | |(% colspan="2" rowspan="1" %)(((
102 == Gripper Controls ==
103 )))
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138
Eric Nantel 25.1 139 |(% colspan="2" %)(((
Eric Nantel 25.2 140 = User Guide =
Eric Nantel 25.1 141 )))
Eric Nantel 26.1 142 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 47.1 143 Before proceeding with the guide, it is important to note the following:
Eric Nantel 25.1 144
145 * 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
146 * 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 47.1 147
148 Pressing the i "Information" icon in the software will bring you to this page.
149
150 [[image:ses-pro-robotic-arm-ui-info.png]]
Eric Nantel 25.1 151 )))
Eric Nantel 25.2 152 |(% colspan="2" %)(((
153 == IMPORTANT ==
154 )))
Eric Nantel 26.1 155 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 156 === Payload Considerations ===
157
158 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.
159 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.
160 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.
161 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".
162 )))
Eric Nantel 26.1 163 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 164 === Emergency ===
165
166 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:
167
Eric Nantel 47.1 168 **Halt (and hold)**
Eric Nantel 25.2 169
Eric Nantel 47.1 170 **[[image:ses-pro-robotic-arm-ui-halt.png]]**
171
Eric Nantel 25.2 172 This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
173
174 **Limp**
175
Eric Nantel 47.1 176 **[[image:ses-pro-robotic-arm-ui-limp.png]]**
177
Eric Nantel 25.2 178 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>.
179
Eric Nantel 47.1 180 **Software E-Stop**
Eric Nantel 25.2 181
Eric Nantel 47.1 182 **[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
Eric Nantel 25.2 183
Eric Nantel 47.1 184 The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
185
186 **Power Supply E-Stop**
Eric Nantel 25.2 187 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.
188 )))
189 |(% colspan="2" %)(((
190 == Arm Connection ==
191 )))
Eric Nantel 26.1 192 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 193 **Model**
194
Eric Nantel 47.1 195 **[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
196
Eric Nantel 25.2 197 The software currently supports the following Lynxmotion PRO Arms:
198
199 * 550mm 5DoF
200 * 550mm 6DoF
201 * 900mm 5DoF
202 * 900mm 6DoF
203
204 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.
205
206 **COM Port**
207
Eric Nantel 47.1 208 **[[image:ses-pro-robotic-arm-ui-com.png]]**
209
Eric Nantel 25.2 210 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. 
211
Eric Nantel 47.1 212 **Connect / Disconnect**
Eric Nantel 25.2 213
Eric Nantel 47.1 214 [[image:ses-pro-robotic-arm-ui-connect.png]]
215
216 [[image:ses-pro-robotic-arm-ui-disconnect.png]]
217
Eric Nantel 25.2 218 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.
219 )))
220 |(% colspan="2" %)(((
221 == Gripper Controls ==
222 )))
Eric Nantel 26.1 223 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 224 **Model**
225
226 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.
227
228 * PGE-50-40 (40mm default configuration)
229 * PGE-50-40 (60mm configuration)
230 * PGE-50-40 (80mm configuration)
231 * CGE-10-10 (20mm configuration)
232 * CGE-10-10 (40mm configuration)
233 * CGE-10-10 (60mm configuration)
234
235 **COM Port**
236
237 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
238
239 **Baudrate**
240
Eric Nantel 27.2 241 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 25.2 242
243 **Initialize**
244
245 Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
246
247 **Connect**
248
249 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.
250
251 **Speed**
252
253 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.
254
255 **Force**
256
257 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.
258
259 **Open / Close**
260
261 These are shortcut buttons to either fully open or fully close the gripper.
262
263 **Sequencer**
264
265 The sequencer displays the gripper position as joint 7 (J7).
266
267 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.
268 )))
Eric Nantel 25.3 269 |(% colspan="2" %)(((
270 == 3D Model ==
271 )))
Eric Nantel 26.1 272 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.3 273 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.
274
275 **View Controls**
276
277 Zoom: Shift + Middle Scroll
278
279 Rotate: Shift + Middle Mouse
280
281 Pan: None
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283 |(% colspan="2" %)(((
284 == Manual Move ==
285 )))
Eric Nantel 26.1 286 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.3 287 **Angular Control**
288
289 In angular mode, the user can control the angle of each joint
290
291 **Coordinates Control**
292
293 In coordinate control the user can control the cartesian position of the end effector
294
295 **End Effector Lock**
296
297 The orientation of the end effector can be locked.
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299 |(% colspan="2" %)(((
300 == Direct Command ==
301 )))
Eric Nantel 26.1 302 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.3 303 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.
304
305 A few things to keep in mind when using this:
306
307 * Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
308 * Sending commands does not require ‘#’ and ‘\r’ chars.
309 ** example for #2\r you should enter 2Q and press the "SEND" button
310 * The commands are validated, and it shows a notification in case of error.
311 * The replies of queries are shown in the text field below.
312 )))
Eric Nantel 26.1 313 |(% colspan="2" %)(((
314 == Command Output ==
315 )))
316 |(% style="width:26px" %) |(% style="width:1452px" %)(((
317 //{Coming Soon}//
318 )))
319 |(% colspan="2" %)(((
320 == Telemetry ==
321 )))
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323 **Data to Display**
Eric Nantel 25.1 324
Eric Nantel 27.3 325 Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
326
Eric Nantel 27.2 327 * Position
328 * Current
329 * Linear Accel X
330 * Linear Accel Y
331 * Linear Accel Z
332 * Angular Accel α
333 * Angular Accel β
334 * Angular Accel γ
335 * MCU Temperature
336 * PCB Temperature
337 * Probe Temperature
Eric Nantel 26.1 338
Eric Nantel 27.3 339 **Display / Hide **
Eric Nantel 26.1 340
Eric Nantel 27.3 341 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 26.1 342 )))
343 |(% colspan="2" style="width:26px" %)(((
344 == Sequencer ==
345 )))
346 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 28.1 347 **Sequence**
Eric Nantel 26.1 348
Eric Nantel 28.1 349 Add
Eric Nantel 26.1 350
Eric Nantel 28.1 351 Substract
Eric Nantel 26.1 352
Eric Nantel 28.1 353 Copy
354
355 Save
356
357 Open
358
359 Delete
360
Eric Nantel 26.1 361 //{Coming Soon}//
362
Eric Nantel 28.1 363 **Frames**
Eric Nantel 26.1 364
Eric Nantel 28.1 365 Add
Eric Nantel 26.1 366
Eric Nantel 28.1 367 Sequence Selector
Eric Nantel 26.1 368
Eric Nantel 28.1 369 Record
Eric Nantel 26.1 370
Eric Nantel 28.1 371 Delete
Eric Nantel 26.1 372
Eric Nantel 28.1 373 Copy
Eric Nantel 26.1 374
Eric Nantel 28.1 375 Paste
376
377 Swap
378
379 Manual Edit
380
381 Time, angles, gripper
382
383 Moving Frames
384
385 //Alt + Left Click = Drag time//
386
Eric Nantel 26.1 387 //{Coming Soon}//
388
389 **Errors**
390
391 //{Coming Soon}//
392 )))
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447
Eric Nantel 27.1 448 {{comment}}
Eric Nantel 25.1 449 = =
450
Eric Nantel 15.1 451 = User Guide =
452
Coleman Benson 24.1 453 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 16.1 454
Coleman Benson 23.1 455 * 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
456 * 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 16.1 457
Coleman Benson 23.1 458 == IMPORTANT: Payload Considerations ==
Eric Nantel 16.1 459
Coleman Benson 23.1 460 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.
461 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.
462 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.
463 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 16.1 464
Coleman Benson 23.1 465 == IMPORTANT: Emergency ==
Eric Nantel 16.1 466
Coleman Benson 23.1 467 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 16.3 468
Coleman Benson 23.1 469 **Halt & Hold**
Coleman Benson 24.1 470
Coleman Benson 23.1 471 This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
Eric Nantel 16.3 472
Coleman Benson 23.1 473 **Limp**
Coleman Benson 24.1 474
Coleman Benson 23.1 475 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 15.1 476
Coleman Benson 23.1 477 **Software Stop**
478
479 The E-stop button within the software sets all joints to limp.
480
481 **Hardware E-Stop**
482 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.
483
484 == Arm Connection ==
485
Eric Nantel 17.1 486 **Model**
Eric Nantel 15.1 487
Coleman Benson 24.1 488 The software currently supports the following Lynxmotion PRO Arms:
Coleman Benson 23.1 489
Coleman Benson 24.1 490 * 550mm 5DoF
491 * 550mm 6DoF
492 * 900mm 5DoF
493 * 900mm 6DoF
Eric Nantel 16.2 494
Coleman Benson 24.1 495 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.
496
497 **COM Port**
498
Coleman Benson 23.1 499 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. 
500
Eric Nantel 17.1 501 **Connect**
Eric Nantel 16.2 502
Coleman Benson 24.1 503 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 15.1 504
Coleman Benson 24.1 505 == Gripper Controls ==
506
Eric Nantel 17.1 507 **Model**
Eric Nantel 15.1 508
Coleman Benson 23.1 509 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.
510
Coleman Benson 24.1 511 * PGE-50-40 (40mm default configuration)
512 * PGE-50-40 (60mm configuration)
513 * PGE-50-40 (80mm configuration)
514 * CGE-10-10 (20mm configuration)
515 * CGE-10-10 (40mm configuration)
516 * CGE-10-10 (60mm configuration)
Eric Nantel 16.2 517
Coleman Benson 24.1 518 **COM Port**
Coleman Benson 23.1 519
Coleman Benson 24.1 520 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
521
Eric Nantel 17.1 522 **Baudrate**
Eric Nantel 16.2 523
Coleman Benson 24.1 524 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 23.1 525
Coleman Benson 24.1 526 **Initialize**
Eric Nantel 16.2 527
Coleman Benson 24.1 528 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 23.1 529
Coleman Benson 24.1 530 **Connect**
Eric Nantel 16.2 531
Coleman Benson 24.1 532 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 23.1 533
Eric Nantel 17.1 534 **Speed**
Eric Nantel 16.2 535
Coleman Benson 24.1 536 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 23.1 537
Eric Nantel 17.1 538 **Force**
Eric Nantel 16.2 539
Coleman Benson 24.1 540 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 23.1 541
Eric Nantel 17.1 542 **Open / Close**
Eric Nantel 16.2 543
Coleman Benson 24.1 544 These are shortcut buttons to either fully open or fully close the gripper.
Eric Nantel 16.4 545
Coleman Benson 24.1 546 **Sequencer**
547
548 The sequencer displays the gripper position as joint 7 (J7).
549
550 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.
551
Coleman Benson 23.1 552 == 3D Model ==
Eric Nantel 16.4 553
Coleman Benson 23.1 554 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.
555
556 **View Controls**
557
Coleman Benson 24.1 558 Zoom: Shift + Middle Scroll
Coleman Benson 23.1 559
Coleman Benson 24.1 560 Rotate: Shift + Middle Mouse
561
562 Pan: None
563
Coleman Benson 23.1 564 == Manual Move ==
565
566 **Angular Control**
567
568 In angular mode, the user can control the angle of each joint
569
Eric Nantel 16.4 570 **Coordinates Control**
571
Coleman Benson 23.1 572 In coordinate control the user can control the cartesian position of the end effector
573
574 **End Effector Lock**
575
576 The orientation of the end effector can be locked.
577
Eric Nantel 15.2 578 == Direct Command ==
Eric Nantel 15.1 579
Eric Nantel 15.2 580 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 15.1 581
Eric Nantel 15.2 582 A few things to keep in mind when using this:
Eric Nantel 15.1 583
Eric Nantel 15.2 584 * Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
585 * Sending commands does not require ‘#’ and ‘\r’ chars.
586 ** example for #2\r you should enter 2Q and press the "SEND" button
Eric Nantel 12.1 587 * The commands are validated, and it shows a notification in case of error.
Eric Nantel 15.2 588 * The replies of queries are shown in the text field below.
Eric Nantel 12.1 589
Coleman Benson 23.1 590 == Command Output ==
591
592 //{Coming Soon}//
593
Eric Nantel 16.3 594 == Telemetry ==
595
Eric Nantel 17.1 596 **Data to Display**
Eric Nantel 16.3 597
Coleman Benson 23.1 598 //{Coming Soon}//
599
Eric Nantel 17.1 600 **Display / Hide Actuator**
Eric Nantel 16.3 601
Coleman Benson 23.1 602 //{Coming Soon}//
603
Coleman Benson 24.1 604 == Sequencer ==
Coleman Benson 23.1 605
606 **Frames**
607
608 //{Coming Soon}//
609
610 **Record **
611
612 //{Coming Soon}//
613
614 **Edit **
615
616 Time, angles, gripper
617
Coleman Benson 24.1 618 //Alt + Left Click = Drag time//
Coleman Benson 23.1 619
620 **Reorder**
621
622 //{Coming Soon}//
623
624 **Play**
625
626 //{Coming Soon}//
627
628 **Errors**
629
630 //{Coming Soon}//
Eric Nantel 27.1 631 {{/comment}}
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