Wiki source code of SES-PRO Robotic Arm UI

Version 70.1 by Eric Nantel on 2024/10/16 13:54

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"/}}
5.1	2
38.1	3	[[[[image:[email protected]]]>>https://lynxmotion.com/tools/ses-pro-app/lynxmotion_ses_pro_robotic_arm_ui_stable.exe]]
5.1	4
	5	Table of Contents
	6
	7	{{toc/}}
	8
	9	= Description =
	10
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.
5.1	12
	13	= Features =
	14
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)
12.1	21
29.1	22	__Compatibility: Windows 7 Operating System or above__
	23
48.1	24
	25	\|(% colspan="3" %)(((
	26	= User Guide =
	27	)))
48.2	28	\|(% style="width:25px" %) \|(% colspan="2" rowspan="1" style="width:100px" %)(((
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	)))
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.
48.1	35	\| \|(% colspan="2" rowspan="1" %)(((
	36	== IMPORTANT ==
	37	)))
	38	\| \|(% colspan="2" rowspan="1" %)(((
	39	=== Payload Considerations ===
	40	)))
50.1	41	\| \|(% colspan="2" rowspan="1" %)(((
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	)))
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.
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	)))
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	)))
52.2	104	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]\|(((
	105	Model
	106
54.1	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 G.
52.2	108	)))
61.1	109	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-version.png]]\|(((
52.2	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	)))
61.1	117	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]\|(((
52.2	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	)))
61.1	122	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]\|(((
52.2	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	)))
61.1	127	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-connect.png]]\|(((
	128	Connect
	129
	130	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.
	131	)))
	132	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-init.png]]\|(((
52.2	133	Initialize
	134
	135	Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
65.2	136
	137	(((
	138
52.2	139	)))
65.2	140	)))
	141	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]\|(((
	142	Position
	143
	144
	145	)))
	146	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-speed.png]]\|(((
52.2	147	Speed
	148
	149	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.
	150	)))
65.2	151	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]\|(((
52.2	152	Force
	153
	154	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.
	155	)))
65.2	156	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-open-close.png]]\|(((
52.2	157	Open / Close
	158
	159	These are shortcut buttons to either fully open or fully close the gripper.
	160	)))
	161	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	162	Sequencer
	163
54.1	164	The sequencer displays the gripper position as joint G.
52.2	165
65.2	166	Ex: #GP1000
	167	This command would be open the Gripper to Position 100.0%
	168
54.1	169	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.
52.2	170	)))
52.3	171	\| \|(% colspan="2" rowspan="1" %)(((
	172	== 3D Model ==
	173	)))
	174	\| \|(% colspan="2" rowspan="1" %)(((
	175	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.
	176	)))
	177	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	178	View Controls
	179
	180	Zoom: Shift + Middle Scroll
	181
	182	Rotate: Shift + Middle Mouse
	183
	184	Pan: None
	185	)))
53.1	186	\| \|(% colspan="2" rowspan="1" %)(((
	187	== Manual Move ==
	188	)))
	189	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	190	Angular Control
	191
	192	In angular mode, the user can control the angle of each joint
	193	)))
	194	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	195	Coordinates Control
	196
	197	In coordinate control the user can control the cartesian position of the end effector
	198	)))
	199	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	200	End Effector Lock
	201
	202	The orientation of the end effector can be locked.
	203	)))
	204	\| \|(% colspan="2" rowspan="1" %)(((
	205	== Direct Command ==
	206	)))
	207	\| \|(% colspan="2" rowspan="1" %)(((
	208	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.
	209
	210	A few things to keep in mind when using this:
	211
	212	* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	213	* Sending commands does not require ‘#’ and ‘\r’ chars.
	214	** example for #2\r you should enter 2Q and press the "SEND" button
	215	* The commands are validated, and it shows a notification in case of error.
	216	* The replies of queries are shown in the text field below.
	217	)))
54.1	218	\| \|(% colspan="2" rowspan="1" %)(((
26.1	219	== Telemetry ==
	220	)))
54.1	221	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
26.1	222	Data to Display
25.1	223
27.3	224	Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
	225
27.2	226	* Position
	227	* Current
	228	* Linear Accel X
	229	* Linear Accel Y
	230	* Linear Accel Z
	231	* Angular Accel α
	232	* Angular Accel β
	233	* Angular Accel γ
	234	* MCU Temperature
	235	* PCB Temperature
	236	* Probe Temperature
54.1	237	)))
	238	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
27.3	239	Display / Hide
26.1	240
27.3	241	At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
26.1	242	)))
54.1	243	\| \|(% colspan="2" rowspan="1" %)(((
26.1	244	== Sequencer ==
	245	)))
54.1	246	\| \|(% colspan="2" rowspan="1" %)Sequence
	247	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	248	Sequence Selector
26.1	249
54.1	250
	251	)))
	252	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	253	Add
26.1	254
54.1	255
	256	)))
	257	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	258	Substract
26.1	259
54.1	260
	261	)))
	262	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	263	Copy
28.1	264
54.1	265
	266	)))
	267	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	268	Save
28.1	269
54.1	270
	271	)))
	272	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	273	Open
28.1	274
54.1	275
	276	)))
	277	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	278	Delete
28.1	279
54.1	280
	281	)))
	282	\| \|(% colspan="2" rowspan="1" %)Frames
	283	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	284	Add
26.1	285
54.1	286
	287	)))
	288	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	289	Sequence Selector
26.1	290
54.1	291
	292	)))
	293	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	294	Record
26.1	295
54.1	296
	297	)))
	298	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	299	Delete
26.1	300
54.1	301
	302	)))
	303	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	304	Copy
26.1	305
54.1	306
	307	)))
	308	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	309	Paste
26.1	310
54.1	311
	312	)))
	313	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	314	Swap
26.1	315
54.1	316
	317	)))
	318	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	319	Frame Name
28.1	320
54.1	321
	322	)))
	323	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	324	Frame length
28.1	325
	326	//Alt + Left Click = Drag time//
54.1	327	)))
	328	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	329	Frame Move
28.1	330
54.1	331
	332	)))
	333	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	334	Loop
26.1	335
54.1	336
	337	)))
	338	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	339	Manual Edit
26.1	340
54.1	341	Time, angles, gripper
26.1	342	)))
54.1	343	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	344	Zoom
26.1	345
54.1	346
	347	)))
	348	\| \|(% colspan="2" rowspan="1" %)Errors
	349	\| \|(% style="text-align:center; vertical-align:middle" %) \|
	350	\| \|(% style="text-align:center; vertical-align:middle" %) \|
	351
27.1	352	{{comment}}
25.1	353	= =
	354
15.1	355	= User Guide =
	356
24.1	357	Pressing the i "Information" icon in the software will bring you to this page. Before proceeding with the guide, it is important to note the following:
16.1	358
23.1	359	* 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
	360	* The servos use stepper motors and do NOT include mechanical brakes. If the stepper motor is unable to retain or move to a desired angle (insufficient torque), the motor will rotate freely as opposed to hold the last position
16.1	361
23.1	362	== IMPORTANT: Payload Considerations ==
16.1	363
23.1	364	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.
	365	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.
	366	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.
	367	1. The stepper motors provide the highest torque at low speeds, and lower torque at high speeds. Note that the maxium torque is not at the lowest speed as the torque to rpm curve for each servo resembles a "mountain".
16.1	368
23.1	369	== IMPORTANT: Emergency ==
16.1	370
23.1	371	Before using the arm, it is important that a user know what to do when an issue or emergency arises where the arm must be stopped quickly. The following emergency options are available based on severity:
16.3	372
23.1	373	Halt & Hold
24.1	374
23.1	375	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
16.3	376
23.1	377	Limp
24.1	378
23.1	379	All joints will go limp which mean there will be nothing avoiding them to turn freely (potentially causing the arm to fall). The high gear ratio of the strain wave gearing does mean there is some (low) level of resistant to rotation, but the gears and motor are nto "locked" and as such, the arm may fall. The corresponding command is #254L<cr>.
15.1	380
23.1	381	Software Stop
	382
	383	The E-stop button within the software sets all joints to limp.
	384
	385	Hardware E-Stop
	386	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.
	387
	388	== Arm Connection ==
	389
17.1	390	Model
15.1	391
24.1	392	The software currently supports the following Lynxmotion PRO Arms:
23.1	393
24.1	394	* 550mm 5DoF
	395	* 550mm 6DoF
	396	* 900mm 5DoF
	397	* 900mm 6DoF
16.2	398
24.1	399	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.
	400
	401	COM Port
	402
23.1	403	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.
	404
17.1	405	Connect
16.2	406
24.1	407	Once the COM port has been selection, the CONNECT button can be pressed, and once a servo has been found, the light next to it will go from red to green.
15.1	408
24.1	409	== Gripper Controls ==
	410
17.1	411	Model
15.1	412
23.1	413	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.
	414
24.1	415	* PGE-50-40 (40mm default configuration)
	416	* PGE-50-40 (60mm configuration)
	417	* PGE-50-40 (80mm configuration)
	418	* CGE-10-10 (20mm configuration)
	419	* CGE-10-10 (40mm configuration)
	420	* CGE-10-10 (60mm configuration)
16.2	421
24.1	422	COM Port
23.1	423
24.1	424	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
	425
17.1	426	Baudrate
16.2	427
24.1	428	The DH Robotics grippers provide the option to change the baud rate, though the default is 115200. If the gripper is configured by the user to a different baud rate, it is important to select the corresponding baud rate in teh software.
23.1	429
24.1	430	Initialize
16.2	431
24.1	432	Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
23.1	433
24.1	434	Connect
16.2	435
24.1	436	Pressing CONNECT establishes a connection to the gripper and goes through the initilization process once, opening the gripper fully. Once connection has been established, the light next to the button will go from red to green.
23.1	437
17.1	438	Speed
16.2	439
24.1	440	The speed of motion can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
23.1	441
17.1	442	Force
16.2	443
24.1	444	The maximum force exerted by the gripper can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
23.1	445
17.1	446	Open / Close
16.2	447
24.1	448	These are shortcut buttons to either fully open or fully close the gripper.
16.4	449
24.1	450	Sequencer
	451
	452	The sequencer displays the gripper position as joint 7 (J7).
	453
	454	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.
	455
23.1	456	== 3D Model ==
16.4	457
23.1	458	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.
	459
	460	View Controls
	461
24.1	462	Zoom: Shift + Middle Scroll
23.1	463
24.1	464	Rotate: Shift + Middle Mouse
	465
	466	Pan: None
	467
23.1	468	== Manual Move ==
	469
	470	Angular Control
	471
	472	In angular mode, the user can control the angle of each joint
	473
16.4	474	Coordinates Control
	475
23.1	476	In coordinate control the user can control the cartesian position of the end effector
	477
	478	End Effector Lock
	479
	480	The orientation of the end effector can be locked.
	481
15.2	482	== Direct Command ==
15.1	483
15.2	484	This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
15.1	485
15.2	486	A few things to keep in mind when using this:
15.1	487
15.2	488	* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	489	* Sending commands does not require ‘#’ and ‘\r’ chars.
	490	** example for #2\r you should enter 2Q and press the "SEND" button
12.1	491	* The commands are validated, and it shows a notification in case of error.
15.2	492	* The replies of queries are shown in the text field below.
12.1	493
23.1	494	== Command Output ==
	495
	496	//{Coming Soon}//
	497
16.3	498	== Telemetry ==
	499
17.1	500	Data to Display
16.3	501
23.1	502	//{Coming Soon}//
	503
17.1	504	Display / Hide Actuator
16.3	505
23.1	506	//{Coming Soon}//
	507
24.1	508	== Sequencer ==
23.1	509
	510	Frames
	511
	512	//{Coming Soon}//
	513
	514	Record
	515
	516	//{Coming Soon}//
	517
	518	Edit
	519
	520	Time, angles, gripper
	521
24.1	522	//Alt + Left Click = Drag time//
23.1	523
	524	Reorder
	525
	526	//{Coming Soon}//
	527
	528	Play
	529
	530	//{Coming Soon}//
	531
	532	Errors
	533
	534	//{Coming Soon}//
27.1	535	{{/comment}}

Wiki source code of SES-PRO Robotic Arm UI

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