Wiki source code of SES-PRO Robotic Arm UI

Version 53.1 by Eric Nantel on 2024/10/16 12:46
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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 )))
Eric Nantel 50.1 41 | |(% colspan="2" rowspan="1" %)(((
Eric Nantel 48.1 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 )))
Eric Nantel 52.2 104 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
105 **Model**
106
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.
108 )))
109 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
110 * PGE-50-40 (40mm default configuration)
111 * PGE-50-40 (60mm configuration)
112 * PGE-50-40 (80mm configuration)
113 * CGE-10-10 (20mm configuration)
114 * CGE-10-10 (40mm configuration)
115 * CGE-10-10 (60mm configuration)
116 )))
117 | |(% style="text-align:center; vertical-align:middle" %) |(((
118 **COM Port**
119
120 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
121 )))
122 | |(% style="text-align:center; vertical-align:middle" %) |(((
123 **Baudrate**
124
125 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.
126 )))
127 | |(% style="text-align:center; vertical-align:middle" %) |(((
128 **Initialize**
129
130 Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
131 )))
132 | |(% style="text-align:center; vertical-align:middle" %) |(((
133 **Connect**
134
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.
136 )))
137 | |(% style="text-align:center; vertical-align:middle" %) |(((
138 **Speed**
139
140 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.
141 )))
142 | |(% style="text-align:center; vertical-align:middle" %) |(((
143 **Force**
144
145 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.
146 )))
147 | |(% style="text-align:center; vertical-align:middle" %) |(((
148 **Open / Close**
149
150 These are shortcut buttons to either fully open or fully close the gripper.
151 )))
152 | |(% style="text-align:center; vertical-align:middle" %) |(((
153 **Sequencer**
154
155 The sequencer displays the gripper position as joint 7 (J7).
156
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.
158 )))
Eric Nantel 52.3 159 | |(% colspan="2" rowspan="1" %)(((
160 == 3D Model ==
161 )))
162 | |(% colspan="2" rowspan="1" %)(((
163 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.
164 )))
165 | |(% style="text-align:center; vertical-align:middle" %) |(((
166 **View Controls**
167
168 Zoom: Shift + Middle Scroll
169
170 Rotate: Shift + Middle Mouse
171
172 Pan: None
173 )))
Eric Nantel 53.1 174 | |(% colspan="2" rowspan="1" %)(((
175 == Manual Move ==
176 )))
177 | |(% style="text-align:center; vertical-align:middle" %) |(((
178 **Angular Control**
179
180 In angular mode, the user can control the angle of each joint
181 )))
182 | |(% style="text-align:center; vertical-align:middle" %) |(((
183 **Coordinates Control**
184
185 In coordinate control the user can control the cartesian position of the end effector
186 )))
187 | |(% style="text-align:center; vertical-align:middle" %) |(((
188 **End Effector Lock**
189
190 The orientation of the end effector can be locked.
191 )))
192 | |(% colspan="2" rowspan="1" %)(((
193 == Direct Command ==
194 )))
195 | |(% colspan="2" rowspan="1" %)(((
196 This section allow the user to send commands using the [[LSS-PRO Communication Protocol>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-pro/lss-pro/lss-p-communication-protocol/]] directly if required.
197
198 A few things to keep in mind when using this:
199
200 * Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
201 * Sending commands does not require ‘#’ and ‘\r’ chars.
202 ** example for #2\r you should enter 2Q and press the "SEND" button
203 * The commands are validated, and it shows a notification in case of error.
204 * The replies of queries are shown in the text field below.
205 )))
Eric Nantel 48.1 206 | |(% 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
Eric Nantel 25.1 222 |(% colspan="2" %)(((
Eric Nantel 25.2 223 = User Guide =
Eric Nantel 25.1 224 )))
Eric Nantel 26.1 225 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 47.1 226 Before proceeding with the guide, it is important to note the following:
Eric Nantel 25.1 227
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
Eric Nantel 47.1 230
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]]
Eric Nantel 25.1 234 )))
Eric Nantel 25.2 235 |(% colspan="2" %)(((
236 == IMPORTANT ==
237 )))
Eric Nantel 26.1 238 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 239 === 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 )))
Eric Nantel 26.1 246 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 247 === 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
Eric Nantel 47.1 251 **Halt (and hold)**
Eric Nantel 25.2 252
Eric Nantel 47.1 253 **[[image:ses-pro-robotic-arm-ui-halt.png]]**
254
Eric Nantel 25.2 255 This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
256
257 **Limp**
258
Eric Nantel 47.1 259 **[[image:ses-pro-robotic-arm-ui-limp.png]]**
260
Eric Nantel 25.2 261 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
Eric Nantel 47.1 263 **Software E-Stop**
Eric Nantel 25.2 264
Eric Nantel 47.1 265 **[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
Eric Nantel 25.2 266
Eric Nantel 47.1 267 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**
Eric Nantel 25.2 270 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 )))
Eric Nantel 26.1 275 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 276 **Model**
277
Eric Nantel 47.1 278 **[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
279
Eric Nantel 25.2 280 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
Eric Nantel 47.1 291 **[[image:ses-pro-robotic-arm-ui-com.png]]**
292
Eric Nantel 25.2 293 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
Eric Nantel 47.1 295 **Connect / Disconnect**
Eric Nantel 25.2 296
Eric Nantel 47.1 297 [[image:ses-pro-robotic-arm-ui-connect.png]]
298
299 [[image:ses-pro-robotic-arm-ui-disconnect.png]]
300
Eric Nantel 25.2 301 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 )))
Eric Nantel 26.1 306 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.2 307 **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
Eric Nantel 27.2 324 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.
Eric Nantel 25.2 325
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 )))
Eric Nantel 25.3 352 |(% colspan="2" %)(((
353 == 3D Model ==
354 )))
Eric Nantel 26.1 355 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.3 356 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 )))
Eric Nantel 26.1 369 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.3 370 **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 )))
Eric Nantel 26.1 385 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 25.3 386 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 )))
Eric Nantel 26.1 396 |(% colspan="2" %)(((
397 == Command Output ==
398 )))
399 |(% style="width:26px" %) |(% style="width:1452px" %)(((
400 //{Coming Soon}//
401 )))
402 |(% colspan="2" %)(((
403 == Telemetry ==
404 )))
405 |(% style="width:26px" %) |(% style="width:1452px" %)(((
406 **Data to Display**
Eric Nantel 25.1 407
Eric Nantel 27.3 408 Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
409
Eric Nantel 27.2 410 * Position
411 * Current
412 * Linear Accel X
413 * Linear Accel Y
414 * Linear Accel Z
415 * Angular Accel α
416 * Angular Accel β
417 * Angular Accel γ
418 * MCU Temperature
419 * PCB Temperature
420 * Probe Temperature
Eric Nantel 26.1 421
Eric Nantel 27.3 422 **Display / Hide **
Eric Nantel 26.1 423
Eric Nantel 27.3 424 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 26.1 425 )))
426 |(% colspan="2" style="width:26px" %)(((
427 == Sequencer ==
428 )))
429 |(% style="width:26px" %) |(% style="width:1452px" %)(((
Eric Nantel 28.1 430 **Sequence**
Eric Nantel 26.1 431
Eric Nantel 28.1 432 Add
Eric Nantel 26.1 433
Eric Nantel 28.1 434 Substract
Eric Nantel 26.1 435
Eric Nantel 28.1 436 Copy
437
438 Save
439
440 Open
441
442 Delete
443
Eric Nantel 26.1 444 //{Coming Soon}//
445
Eric Nantel 28.1 446 **Frames**
Eric Nantel 26.1 447
Eric Nantel 28.1 448 Add
Eric Nantel 26.1 449
Eric Nantel 28.1 450 Sequence Selector
Eric Nantel 26.1 451
Eric Nantel 28.1 452 Record
Eric Nantel 26.1 453
Eric Nantel 28.1 454 Delete
Eric Nantel 26.1 455
Eric Nantel 28.1 456 Copy
Eric Nantel 26.1 457
Eric Nantel 28.1 458 Paste
459
460 Swap
461
462 Manual Edit
463
464 Time, angles, gripper
465
466 Moving Frames
467
468 //Alt + Left Click = Drag time//
469
Eric Nantel 26.1 470 //{Coming Soon}//
471
472 **Errors**
473
474 //{Coming Soon}//
475 )))
476 |(% style="width:26px" %) |(% style="width:1452px" %)
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530
Eric Nantel 27.1 531 {{comment}}
Eric Nantel 25.1 532 = =
533
Eric Nantel 15.1 534 = User Guide =
535
Coleman Benson 24.1 536 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 16.1 537
Coleman Benson 23.1 538 * 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
539 * 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 16.1 540
Coleman Benson 23.1 541 == IMPORTANT: Payload Considerations ==
Eric Nantel 16.1 542
Coleman Benson 23.1 543 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.
544 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.
545 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.
546 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 16.1 547
Coleman Benson 23.1 548 == IMPORTANT: Emergency ==
Eric Nantel 16.1 549
Coleman Benson 23.1 550 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 16.3 551
Coleman Benson 23.1 552 **Halt & Hold**
Coleman Benson 24.1 553
Coleman Benson 23.1 554 This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
Eric Nantel 16.3 555
Coleman Benson 23.1 556 **Limp**
Coleman Benson 24.1 557
Coleman Benson 23.1 558 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 15.1 559
Coleman Benson 23.1 560 **Software Stop**
561
562 The E-stop button within the software sets all joints to limp.
563
564 **Hardware E-Stop**
565 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.
566
567 == Arm Connection ==
568
Eric Nantel 17.1 569 **Model**
Eric Nantel 15.1 570
Coleman Benson 24.1 571 The software currently supports the following Lynxmotion PRO Arms:
Coleman Benson 23.1 572
Coleman Benson 24.1 573 * 550mm 5DoF
574 * 550mm 6DoF
575 * 900mm 5DoF
576 * 900mm 6DoF
Eric Nantel 16.2 577
Coleman Benson 24.1 578 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.
579
580 **COM Port**
581
Coleman Benson 23.1 582 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. 
583
Eric Nantel 17.1 584 **Connect**
Eric Nantel 16.2 585
Coleman Benson 24.1 586 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 15.1 587
Coleman Benson 24.1 588 == Gripper Controls ==
589
Eric Nantel 17.1 590 **Model**
Eric Nantel 15.1 591
Coleman Benson 23.1 592 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.
593
Coleman Benson 24.1 594 * PGE-50-40 (40mm default configuration)
595 * PGE-50-40 (60mm configuration)
596 * PGE-50-40 (80mm configuration)
597 * CGE-10-10 (20mm configuration)
598 * CGE-10-10 (40mm configuration)
599 * CGE-10-10 (60mm configuration)
Eric Nantel 16.2 600
Coleman Benson 24.1 601 **COM Port**
Coleman Benson 23.1 602
Coleman Benson 24.1 603 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
604
Eric Nantel 17.1 605 **Baudrate**
Eric Nantel 16.2 606
Coleman Benson 24.1 607 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 23.1 608
Coleman Benson 24.1 609 **Initialize**
Eric Nantel 16.2 610
Coleman Benson 24.1 611 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 23.1 612
Coleman Benson 24.1 613 **Connect**
Eric Nantel 16.2 614
Coleman Benson 24.1 615 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 23.1 616
Eric Nantel 17.1 617 **Speed**
Eric Nantel 16.2 618
Coleman Benson 24.1 619 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 23.1 620
Eric Nantel 17.1 621 **Force**
Eric Nantel 16.2 622
Coleman Benson 24.1 623 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 23.1 624
Eric Nantel 17.1 625 **Open / Close**
Eric Nantel 16.2 626
Coleman Benson 24.1 627 These are shortcut buttons to either fully open or fully close the gripper.
Eric Nantel 16.4 628
Coleman Benson 24.1 629 **Sequencer**
630
631 The sequencer displays the gripper position as joint 7 (J7).
632
633 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.
634
Coleman Benson 23.1 635 == 3D Model ==
Eric Nantel 16.4 636
Coleman Benson 23.1 637 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.
638
639 **View Controls**
640
Coleman Benson 24.1 641 Zoom: Shift + Middle Scroll
Coleman Benson 23.1 642
Coleman Benson 24.1 643 Rotate: Shift + Middle Mouse
644
645 Pan: None
646
Coleman Benson 23.1 647 == Manual Move ==
648
649 **Angular Control**
650
651 In angular mode, the user can control the angle of each joint
652
Eric Nantel 16.4 653 **Coordinates Control**
654
Coleman Benson 23.1 655 In coordinate control the user can control the cartesian position of the end effector
656
657 **End Effector Lock**
658
659 The orientation of the end effector can be locked.
660
Eric Nantel 15.2 661 == Direct Command ==
Eric Nantel 15.1 662
Eric Nantel 15.2 663 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 15.1 664
Eric Nantel 15.2 665 A few things to keep in mind when using this:
Eric Nantel 15.1 666
Eric Nantel 15.2 667 * Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
668 * Sending commands does not require ‘#’ and ‘\r’ chars.
669 ** example for #2\r you should enter 2Q and press the "SEND" button
Eric Nantel 12.1 670 * The commands are validated, and it shows a notification in case of error.
Eric Nantel 15.2 671 * The replies of queries are shown in the text field below.
Eric Nantel 12.1 672
Coleman Benson 23.1 673 == Command Output ==
674
675 //{Coming Soon}//
676
Eric Nantel 16.3 677 == Telemetry ==
678
Eric Nantel 17.1 679 **Data to Display**
Eric Nantel 16.3 680
Coleman Benson 23.1 681 //{Coming Soon}//
682
Eric Nantel 17.1 683 **Display / Hide Actuator**
Eric Nantel 16.3 684
Coleman Benson 23.1 685 //{Coming Soon}//
686
Coleman Benson 24.1 687 == Sequencer ==
Coleman Benson 23.1 688
689 **Frames**
690
691 //{Coming Soon}//
692
693 **Record **
694
695 //{Coming Soon}//
696
697 **Edit **
698
699 Time, angles, gripper
700
Coleman Benson 24.1 701 //Alt + Left Click = Drag time//
Coleman Benson 23.1 702
703 **Reorder**
704
705 //{Coming Soon}//
706
707 **Play**
708
709 //{Coming Soon}//
710
711 **Errors**
712
713 //{Coming Soon}//
Eric Nantel 27.1 714 {{/comment}}
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