SES-PRO Robotic Arm UI

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{{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"/}}

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[[[[image:[email protected]]]>>https://lynxmotion.com/tools/ses-pro-app/lynxmotion_ses_pro_robotic_arm_ui_stable.exe]]

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**Table of Contents**

= Description =

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.

= Features =

* Angular and cartesian positioning of the end effector

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* 3D graphical display of the appropriate robotic arm and end effector

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* Sequencer to record and play back frames (single, looped or infinite)

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* Error checking (speed, temperature etc.)

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* Command output and user input

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* Safety (Software E-Stop, Halt&Hold & Limp)

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__Compatibility: Windows 7 Operating System or above__

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= User Guide =

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

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* 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

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* 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

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| |(% 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.

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== IMPORTANT ==

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=== Payload Considerations ===

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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.

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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.

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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.

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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".

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=== Emergency ===

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| |(% 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.

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The following emergency options are available based on severity:

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]|(((

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**Halt (and hold)**

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

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((

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**Limp**

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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>.

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]|(((

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**Software E-Stop**

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

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**Power Supply E-Stop**

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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.

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== Arm Connection ==

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((

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**Model**

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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.

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]|(((

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**COM Port**

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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.

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[[image:ses-pro-robotic-arm-ui-connect.png]]

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[[image:ses-pro-robotic-arm-ui-disconnect.png]]

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**Connect / Disconnect**

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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.

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== Gripper Controls ==

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((

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**Model**

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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.

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-version.png]]|(((

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* PGE-50-40 (40mm default configuration)

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* PGE-50-40 (60mm configuration)

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* PGE-50-40 (80mm configuration)

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* CGE-10-10 (20mm configuration)

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* CGE-10-10 (40mm configuration)

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* CGE-10-10 (60mm configuration)

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]|(((

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**COM Port**

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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

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]|(((

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**Baudrate**

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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.

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-connect.png]]|(((

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**Connect**

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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.

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-init.png]]|(((

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**Initialize**

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

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]|(((

**Position**

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-speed.png]]|(((

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**Speed**

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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.

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]|(((

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**Force**

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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.

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-open-close.png]]|(((

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**Open / Close**

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

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**Sequencer**

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The sequencer displays the gripper position as joint G.

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Ex: #GP1000

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This command would be open the **G**ripper to **P**osition 100.0%

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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.

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== 3D Model ==

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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.

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-3d.png]]|(((

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**View Controls**

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Zoom: Shift + Middle Scroll

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Rotate: Shift + Middle Mouse

Pan: None

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== Manual Move ==

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((

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**Joints Control (angular)**

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In Joints mode, the user can control the angle of each joint.

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* The field can be clicked and changed using a keyboard.

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* Using the + and - sings will move by the amount specified in the drop down menu.

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* The RESET button will send the arm to Zero on all joints

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates.png]]|(((

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**Coordinates Control**

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

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates-lock.png]]|(((

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**End Effector Lock**

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The orientation of the end effector can be locked with the "ENABLED" button.

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== Direct Command ==

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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.

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A few things to keep in mind when using this:

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* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.

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* Sending commands does not require ‘#’ and ‘\r’ chars.

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** example for #2\r you should enter 2Q and press the "SEND" button

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* The commands are validated, and it shows a notification in case of error.

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* The replies of queries are shown in the text field below.

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== Telemetry ==

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| |(% colspan="2" %)[[image:ses-pro-robotic-arm-ui-telemetry.png]]

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-drop.png]]|(((

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**Data to Display**

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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

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| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-hide.png]]|(((

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**Display / Hide **

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

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== Sequencer ==

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| |(% colspan="2" rowspan="1" %)**Sequence**

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**Sequence Selector**

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**Add**

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**Substract**

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**Copy**

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**Save**

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**Open**

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**Delete**

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| |(% colspan="2" rowspan="1" %)**Frames**

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**Add**

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**Sequence Selector**

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**Record**

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**Delete**

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**Copy**

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**Paste**

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**Swap**

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**Frame Name**

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**Frame length**

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//Alt + Left Click = Drag time//

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| |(% style="text-align:center; vertical-align:middle" %) |(((

**Frame Move**

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**Loop**

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**Manual Edit**

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Time, angles, gripper

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| |(% style="text-align:center; vertical-align:middle" %) |(((

**Zoom**

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| |(% colspan="2" rowspan="1" %)**Errors**

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= =

= User Guide =

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:

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* 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

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* 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

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== IMPORTANT: Payload Considerations ==

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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.

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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.

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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.

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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".

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== IMPORTANT: Emergency ==

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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:

**Halt & 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 Stop**

The E-stop button within the software sets all joints to limp.

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**Hardware E-Stop**

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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**

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.

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== 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 J7.

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* PGE-50-40 (40mm default configuration)

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* PGE-50-40 (60mm configuration)

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* PGE-50-40 (80mm configuration)

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* CGE-10-10 (20mm configuration)

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* CGE-10-10 (40mm configuration)

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* 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 teh software.

**Initialize**

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

**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.

**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 7 (J7).

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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.

== 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

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Rotate: Shift + Middle Mouse

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Pan: None