User Guide

Before proceeding with the guide, it is important to note the following:

• 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
• 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

IMPORTANT

Payload Considerations

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.
2. 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.
3. 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. 
4. 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".

Emergency

Halt (and hold)

This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.

Limp

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>.

Software E-Stop

The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.

Power Supply E-Stop

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. 

Arm Connection

Model

The software currently supports the following Lynxmotion PRO Arms:

• 550mm 5DoF
• 550mm 6DoF
• 900mm 5DoF
• 900mm 6DoF

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. 

COM Port

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.

Connect / Disconnect

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.

Gripper Controls

Model

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 G.

• PGE-50-40 (40mm default configuration)
• PGE-50-40 (60mm configuration)
• PGE-50-40 (80mm configuration)
• CGE-10-10 (20mm configuration)
• CGE-10-10 (40mm configuration)
• CGE-10-10 (60mm configuration)

COM Port

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

Baudrate

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.

Connect

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.

Initialize

Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.

Position

Speed

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.

Force

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.

Open / Close

These are shortcut buttons to either fully open or fully close the gripper.

Sequencer

The sequencer displays the gripper position as joint G.

Ex: #GP1000
This command would be open the Gripper to Position 100.0%

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 G moves.

3D Model

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.

View Controls

Zoom: Shift + Middle Scroll

Rotate: Shift + Middle Mouse

Pan: None

Manual Move

Angular Control

In angular mode, the user can control the angle of each joint

Coordinates Control

In coordinate control the user can control the cartesian position of the end effector

End Effector Lock

The orientation of the end effector can be locked.

Direct Command

This section allow the user to send commands using the LSS-PRO Communication Protocol directly if required. 

A few things to keep in mind when using this:

• Make sure you know what you are doing as you can make the arm move in dangerous ways.
• Sending commands does not require ‘#’ and ‘\r’ chars.
  • example for #2\r you should enter 2Q and press the "SEND" button
• The commands are validated, and it shows a notification in case of error.
• The replies of queries are shown in the text field below.

Telemetry

Data to Display

Various telemetry data can be retrieved from each actuators / joints, here is what the software support:

• Position 
• Current 
• Linear Accel X
• Linear Accel Y
• Linear Accel Z
• Angular Accel α 
• Angular Accel β
• Angular Accel γ
• MCU Temperature
• PCB Temperature
• Probe Temperature

Display / Hide 

At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.

Sequencer

Sequence Selector

Add

Substract

Copy

Save

Open

Delete

Add

Sequence Selector

Record

Delete

Copy

Paste

Swap

Frame Name

Frame length

Alt + Left Click = Drag time

Frame Move

Loop

Manual Edit

Time, angles, gripper

Zoom