Wiki source code of SES-PRO Robotic Arm UI

Version 73.1 by Eric Nantel on 2024/10/16 13:57

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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"/}}
2
3 [[[[image:[email protected]]]>>https://lynxmotion.com/tools/ses-pro-app/lynxmotion_ses_pro_robotic_arm_ui_stable.exe]]
4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
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.
12
13 = Features =
14
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)
21
22 __Compatibility: Windows 7 Operating System or above__
23
24
25 |(% colspan="3" %)(((
26 = User Guide =
27 )))
28 |(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
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 )))
34 | |(% style="text-align:center; vertical-align:middle; width:150px" %)[[image:ses-pro-robotic-arm-ui-info.png]]|Pressing the i "Information" icon in the software will bring you to this page.
35 | |(% colspan="2" rowspan="1" %)(((
36 == IMPORTANT ==
37 )))
38 | |(% colspan="2" rowspan="1" %)(((
39 === Payload Considerations ===
40 )))
41 | |(% colspan="2" rowspan="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 )))
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. 
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 )))
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 )))
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 G.
108 )))
109 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-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" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]|(((
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" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]|(((
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" %)[[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]]|(((
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.
136
137 (((
138
139 )))
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]]|(((
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 )))
151 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]|(((
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 )))
156 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-open-close.png]]|(((
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
164 The sequencer displays the gripper position as joint G.
165
166 Ex: #GP1000
167 This command would be open the **G**ripper to **P**osition 100.0%
168
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.
170 )))
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" %)[[image:ses-pro-robotic-arm-ui-arm-3d.png]]|(((
178 **View Controls**
179
180 Zoom: Shift + Middle Scroll
181
182 Rotate: Shift + Middle Mouse
183
184 Pan: None
185 )))
186 | |(% colspan="2" rowspan="1" %)(((
187 == Manual Move ==
188 )))
189 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((
190 **Joints Control (angular)**
191
192 In Joints mode, the user can control the angle of each joint.
193
194 * The field can be clicked and changed using a keyboard.
195 * Using the + and - sings will move by the amount specified in the drop down menu.
196 * The RESET button will send the arm to Zero on all joints
197 )))
198 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates.png]]|(((
199 **Coordinates Control**
200
201 In coordinate control the user can control the cartesian position of the end effector
202 )))
203 | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates-lock.png]]|(((
204 **End Effector Lock**
205
206 The orientation of the end effector can be locked with the "ENABLED" button.
207 )))
208 | |(% colspan="2" rowspan="1" %)(((
209 == Direct Command ==
210 )))
211 | |(% colspan="2" rowspan="1" %)(((
212 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.
213
214 A few things to keep in mind when using this:
215
216 * Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
217 * Sending commands does not require ‘#’ and ‘\r’ chars.
218 ** example for #2\r you should enter 2Q and press the "SEND" button
219 * The commands are validated, and it shows a notification in case of error.
220 * The replies of queries are shown in the text field below.
221 )))
222 | |(% colspan="2" rowspan="1" %)(((
223 == Telemetry ==
224 )))
225 | |(% style="text-align:center; vertical-align:middle" %) |(((
226 **Data to Display**
227
228 Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
229
230 * Position
231 * Current
232 * Linear Accel X
233 * Linear Accel Y
234 * Linear Accel Z
235 * Angular Accel α
236 * Angular Accel β
237 * Angular Accel γ
238 * MCU Temperature
239 * PCB Temperature
240 * Probe Temperature
241 )))
242 | |(% style="text-align:center; vertical-align:middle" %) |(((
243 **Display / Hide **
244
245 At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
246 )))
247 | |(% colspan="2" rowspan="1" %)(((
248 == Sequencer ==
249 )))
250 | |(% colspan="2" rowspan="1" %)**Sequence**
251 | |(% style="text-align:center; vertical-align:middle" %) |(((
252 **Sequence Selector**
253
254
255 )))
256 | |(% style="text-align:center; vertical-align:middle" %) |(((
257 **Add**
258
259
260 )))
261 | |(% style="text-align:center; vertical-align:middle" %) |(((
262 **Substract**
263
264
265 )))
266 | |(% style="text-align:center; vertical-align:middle" %) |(((
267 **Copy**
268
269
270 )))
271 | |(% style="text-align:center; vertical-align:middle" %) |(((
272 **Save**
273
274
275 )))
276 | |(% style="text-align:center; vertical-align:middle" %) |(((
277 **Open**
278
279
280 )))
281 | |(% style="text-align:center; vertical-align:middle" %) |(((
282 **Delete**
283
284
285 )))
286 | |(% colspan="2" rowspan="1" %)**Frames**
287 | |(% style="text-align:center; vertical-align:middle" %) |(((
288 **Add**
289
290
291 )))
292 | |(% style="text-align:center; vertical-align:middle" %) |(((
293 **Sequence Selector**
294
295
296 )))
297 | |(% style="text-align:center; vertical-align:middle" %) |(((
298 **Record**
299
300
301 )))
302 | |(% style="text-align:center; vertical-align:middle" %) |(((
303 **Delete**
304
305
306 )))
307 | |(% style="text-align:center; vertical-align:middle" %) |(((
308 **Copy**
309
310
311 )))
312 | |(% style="text-align:center; vertical-align:middle" %) |(((
313 **Paste**
314
315
316 )))
317 | |(% style="text-align:center; vertical-align:middle" %) |(((
318 **Swap**
319
320
321 )))
322 | |(% style="text-align:center; vertical-align:middle" %) |(((
323 **Frame Name**
324
325
326 )))
327 | |(% style="text-align:center; vertical-align:middle" %) |(((
328 **Frame length**
329
330 //Alt + Left Click = Drag time//
331 )))
332 | |(% style="text-align:center; vertical-align:middle" %) |(((
333 **Frame Move**
334
335
336 )))
337 | |(% style="text-align:center; vertical-align:middle" %) |(((
338 **Loop**
339
340
341 )))
342 | |(% style="text-align:center; vertical-align:middle" %) |(((
343 **Manual Edit**
344
345 Time, angles, gripper
346 )))
347 | |(% style="text-align:center; vertical-align:middle" %) |(((
348 **Zoom**
349
350
351 )))
352 | |(% colspan="2" rowspan="1" %)**Errors**
353 | |(% style="text-align:center; vertical-align:middle" %) |
354 | |(% style="text-align:center; vertical-align:middle" %) |
355
356 {{comment}}
357 = =
358
359 = User Guide =
360
361 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:
362
363 * 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
364 * 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
365
366 == IMPORTANT: Payload Considerations ==
367
368 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.
369 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.
370 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.
371 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".
372
373 == IMPORTANT: Emergency ==
374
375 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:
376
377 **Halt & Hold**
378
379 This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
380
381 **Limp**
382
383 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>.
384
385 **Software Stop**
386
387 The E-stop button within the software sets all joints to limp.
388
389 **Hardware E-Stop**
390 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.
391
392 == Arm Connection ==
393
394 **Model**
395
396 The software currently supports the following Lynxmotion PRO Arms:
397
398 * 550mm 5DoF
399 * 550mm 6DoF
400 * 900mm 5DoF
401 * 900mm 6DoF
402
403 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.
404
405 **COM Port**
406
407 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. 
408
409 **Connect**
410
411 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.
412
413 == Gripper Controls ==
414
415 **Model**
416
417 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.
418
419 * PGE-50-40 (40mm default configuration)
420 * PGE-50-40 (60mm configuration)
421 * PGE-50-40 (80mm configuration)
422 * CGE-10-10 (20mm configuration)
423 * CGE-10-10 (40mm configuration)
424 * CGE-10-10 (60mm configuration)
425
426 **COM Port**
427
428 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
429
430 **Baudrate**
431
432 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.
433
434 **Initialize**
435
436 Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
437
438 **Connect**
439
440 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.
441
442 **Speed**
443
444 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.
445
446 **Force**
447
448 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.
449
450 **Open / Close**
451
452 These are shortcut buttons to either fully open or fully close the gripper.
453
454 **Sequencer**
455
456 The sequencer displays the gripper position as joint 7 (J7).
457
458 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.
459
460 == 3D Model ==
461
462 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.
463
464 **View Controls**
465
466 Zoom: Shift + Middle Scroll
467
468 Rotate: Shift + Middle Mouse
469
470 Pan: None
471
472 == Manual Move ==
473
474 **Angular Control**
475
476 In angular mode, the user can control the angle of each joint
477
478 **Coordinates Control**
479
480 In coordinate control the user can control the cartesian position of the end effector
481
482 **End Effector Lock**
483
484 The orientation of the end effector can be locked.
485
486 == Direct Command ==
487
488 This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
489
490 A few things to keep in mind when using this:
491
492 * Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
493 * Sending commands does not require ‘#’ and ‘\r’ chars.
494 ** example for #2\r you should enter 2Q and press the "SEND" button
495 * The commands are validated, and it shows a notification in case of error.
496 * The replies of queries are shown in the text field below.
497
498 == Command Output ==
499
500 //{Coming Soon}//
501
502 == Telemetry ==
503
504 **Data to Display**
505
506 //{Coming Soon}//
507
508 **Display / Hide Actuator**
509
510 //{Coming Soon}//
511
512 == Sequencer ==
513
514 **Frames**
515
516 //{Coming Soon}//
517
518 **Record **
519
520 //{Coming Soon}//
521
522 **Edit **
523
524 Time, angles, gripper
525
526 //Alt + Left Click = Drag time//
527
528 **Reorder**
529
530 //{Coming Soon}//
531
532 **Play**
533
534 //{Coming Soon}//
535
536 **Errors**
537
538 //{Coming Soon}//
539 {{/comment}}
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