Wiki source code of SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33

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
76.1	24	= User Guide =
	25
	26	* [[doc:.ses-pro-arm-ui-guide.WebHome]]
	27
75.1	28	{{comment}}
48.1	29	\|(% colspan="3" %)(((
	30	= User Guide =
	31	)))
48.2	32	\|(% style="width:25px" %) \|(% colspan="2" rowspan="1" style="width:100px" %)(((
48.1	33	Before proceeding with the guide, it is important to note the following:
	34
	35	* 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
	36	* 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
	37	)))
70.2	38	\| \|(% 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.
48.1	39	\| \|(% colspan="2" rowspan="1" %)(((
	40	== IMPORTANT ==
	41	)))
	42	\| \|(% colspan="2" rowspan="1" %)(((
	43	=== Payload Considerations ===
	44	)))
50.1	45	\| \|(% colspan="2" rowspan="1" %)(((
48.1	46	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.
	47	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.
	48	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.
	49	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".
	50	)))
	51	\| \|(% colspan="2" rowspan="1" %)(((
	52	=== Emergency ===
	53	)))
49.1	54	\| \|(% 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	55	The following emergency options are available based on severity:
	56	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]\|(((
	57	Halt (and hold)
	58
	59	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
	60	)))
	61	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]\|(((
	62	Limp
	63
	64	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>.
	65	)))
	66	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]\|(((
	67	Software E-Stop
	68
	69	The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
	70	)))
	71	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	72	Power Supply E-Stop
	73
	74	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.
	75	)))
49.1	76	\| \|(% colspan="2" rowspan="1" %)(((
	77	== Arm Connection ==
	78	)))
	79	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]\|(((
	80	Model
	81
	82	The software currently supports the following Lynxmotion PRO Arms:
	83
	84	* 550mm 5DoF
	85	* 550mm 6DoF
	86	* 900mm 5DoF
	87	* 900mm 6DoF
	88
	89	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.
	90	)))
	91	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]\|(((
	92	COM Port
	93
	94	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.
	95	)))
	96	\| \|(% style="text-align:center; vertical-align:middle" %)(((
	97	[[image:ses-pro-robotic-arm-ui-connect.png]]
	98
	99	[[image:ses-pro-robotic-arm-ui-disconnect.png]]
	100	)))\|(((
	101	Connect / Disconnect
	102
	103	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.
	104	)))
	105	\| \|(% colspan="2" rowspan="1" %)(((
	106	== Gripper Controls ==
	107	)))
52.2	108	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]\|(((
	109	Model
	110
54.1	111	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	112	)))
61.1	113	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-version.png]]\|(((
52.2	114	* PGE-50-40 (40mm default configuration)
	115	* PGE-50-40 (60mm configuration)
	116	* PGE-50-40 (80mm configuration)
	117	* CGE-10-10 (20mm configuration)
	118	* CGE-10-10 (40mm configuration)
	119	* CGE-10-10 (60mm configuration)
	120	)))
61.1	121	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]\|(((
52.2	122	COM Port
	123
	124	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
	125	)))
61.1	126	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]\|(((
52.2	127	Baudrate
	128
	129	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.
	130	)))
61.1	131	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-connect.png]]\|(((
	132	Connect
	133
	134	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.
	135	)))
	136	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-init.png]]\|(((
52.2	137	Initialize
	138
	139	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	140
	141	(((
	142
52.2	143	)))
65.2	144	)))
	145	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]\|(((
	146	Position
	147
	148
	149	)))
	150	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-speed.png]]\|(((
52.2	151	Speed
	152
	153	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.
	154	)))
65.2	155	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]\|(((
52.2	156	Force
	157
	158	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.
	159	)))
65.2	160	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-open-close.png]]\|(((
52.2	161	Open / Close
	162
	163	These are shortcut buttons to either fully open or fully close the gripper.
	164	)))
	165	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	166	Sequencer
	167
54.1	168	The sequencer displays the gripper position as joint G.
52.2	169
65.2	170	Ex: #GP1000
	171	This command would be open the Gripper to Position 100.0%
	172
54.1	173	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	174	)))
52.3	175	\| \|(% colspan="2" rowspan="1" %)(((
	176	== 3D Model ==
	177	)))
	178	\| \|(% colspan="2" rowspan="1" %)(((
	179	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.
	180	)))
70.2	181	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-3d.png]]\|(((
52.3	182	View Controls
	183
	184	Zoom: Shift + Middle Scroll
	185
	186	Rotate: Shift + Middle Mouse
	187
	188	Pan: None
	189	)))
53.1	190	\| \|(% colspan="2" rowspan="1" %)(((
	191	== Manual Move ==
	192	)))
70.2	193	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]\|(((
	194	Joints Control (angular)
53.1	195
70.2	196	In Joints mode, the user can control the angle of each joint.
	197
	198	* The field can be clicked and changed using a keyboard.
	199	* Using the + and - sings will move by the amount specified in the drop down menu.
	200	* The RESET button will send the arm to Zero on all joints
53.1	201	)))
70.2	202	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates.png]]\|(((
53.1	203	Coordinates Control
	204
	205	In coordinate control the user can control the cartesian position of the end effector
	206	)))
70.2	207	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates-lock.png]]\|(((
53.1	208	End Effector Lock
	209
70.2	210	The orientation of the end effector can be locked with the "ENABLED" button.
53.1	211	)))
	212	\| \|(% colspan="2" rowspan="1" %)(((
	213	== Direct Command ==
	214	)))
	215	\| \|(% colspan="2" rowspan="1" %)(((
	216	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.
	217
	218	A few things to keep in mind when using this:
	219
	220	* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	221	* Sending commands does not require ‘#’ and ‘\r’ chars.
	222	** example for #2\r you should enter 2Q and press the "SEND" button
	223	* The commands are validated, and it shows a notification in case of error.
	224	* The replies of queries are shown in the text field below.
	225	)))
54.1	226	\| \|(% colspan="2" rowspan="1" %)(((
26.1	227	== Telemetry ==
	228	)))
74.1	229	\| \|(% colspan="2" %)[[image:ses-pro-robotic-arm-ui-telemetry.png]]
	230	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-drop.png]]\|(((
26.1	231	Data to Display
25.1	232
27.3	233	Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
	234
27.2	235	* Position
	236	* Current
	237	* Linear Accel X
	238	* Linear Accel Y
	239	* Linear Accel Z
	240	* Angular Accel α
	241	* Angular Accel β
	242	* Angular Accel γ
	243	* MCU Temperature
	244	* PCB Temperature
	245	* Probe Temperature
54.1	246	)))
74.1	247	\| \|(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-hide.png]]\|(((
27.3	248	Display / Hide
26.1	249
27.3	250	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	251	)))
54.1	252	\| \|(% colspan="2" rowspan="1" %)(((
26.1	253	== Sequencer ==
	254	)))
54.1	255	\| \|(% colspan="2" rowspan="1" %)Sequence
	256	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	257	Sequence Selector
26.1	258
54.1	259
	260	)))
	261	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	262	Add
26.1	263
54.1	264
	265	)))
	266	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	267	Substract
26.1	268
54.1	269
	270	)))
	271	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	272	Copy
28.1	273
54.1	274
	275	)))
	276	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	277	Save
28.1	278
54.1	279
	280	)))
	281	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	282	Open
28.1	283
54.1	284
	285	)))
	286	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	287	Delete
28.1	288
54.1	289
	290	)))
	291	\| \|(% colspan="2" rowspan="1" %)Frames
	292	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	293	Add
26.1	294
54.1	295
	296	)))
	297	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	298	Sequence Selector
26.1	299
54.1	300
	301	)))
	302	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	303	Record
26.1	304
54.1	305
	306	)))
	307	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	308	Delete
26.1	309
54.1	310
	311	)))
	312	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	313	Copy
26.1	314
54.1	315
	316	)))
	317	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	318	Paste
26.1	319
54.1	320
	321	)))
	322	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	323	Swap
26.1	324
54.1	325
	326	)))
	327	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	328	Frame Name
28.1	329
54.1	330
	331	)))
	332	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	333	Frame length
28.1	334
	335	//Alt + Left Click = Drag time//
54.1	336	)))
	337	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	338	Frame Move
28.1	339
54.1	340
	341	)))
	342	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	343	Loop
26.1	344
54.1	345
	346	)))
	347	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	348	Manual Edit
26.1	349
54.1	350	Time, angles, gripper
26.1	351	)))
54.1	352	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	353	Zoom
26.1	354
54.1	355
	356	)))
	357	\| \|(% colspan="2" rowspan="1" %)Errors
	358	\| \|(% style="text-align:center; vertical-align:middle" %) \|
	359	\| \|(% style="text-align:center; vertical-align:middle" %) \|
	360
75.1	361
25.1	362	= =
	363
15.1	364	= User Guide =
	365
24.1	366	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	367
23.1	368	* 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
	369	* 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	370
23.1	371	== IMPORTANT: Payload Considerations ==
16.1	372
23.1	373	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.
	374	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.
	375	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.
	376	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	377
23.1	378	== IMPORTANT: Emergency ==
16.1	379
23.1	380	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	381
23.1	382	Halt & Hold
24.1	383
23.1	384	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
16.3	385
23.1	386	Limp
24.1	387
23.1	388	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	389
23.1	390	Software Stop
	391
	392	The E-stop button within the software sets all joints to limp.
	393
	394	Hardware E-Stop
	395	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.
	396
	397	== Arm Connection ==
	398
17.1	399	Model
15.1	400
24.1	401	The software currently supports the following Lynxmotion PRO Arms:
23.1	402
24.1	403	* 550mm 5DoF
	404	* 550mm 6DoF
	405	* 900mm 5DoF
	406	* 900mm 6DoF
16.2	407
24.1	408	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.
	409
	410	COM Port
	411
23.1	412	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.
	413
17.1	414	Connect
16.2	415
24.1	416	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	417
24.1	418	== Gripper Controls ==
	419
17.1	420	Model
15.1	421
23.1	422	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.
	423
24.1	424	* PGE-50-40 (40mm default configuration)
	425	* PGE-50-40 (60mm configuration)
	426	* PGE-50-40 (80mm configuration)
	427	* CGE-10-10 (20mm configuration)
	428	* CGE-10-10 (40mm configuration)
	429	* CGE-10-10 (60mm configuration)
16.2	430
24.1	431	COM Port
23.1	432
24.1	433	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
	434
17.1	435	Baudrate
16.2	436
24.1	437	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	438
24.1	439	Initialize
16.2	440
24.1	441	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	442
24.1	443	Connect
16.2	444
24.1	445	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	446
17.1	447	Speed
16.2	448
24.1	449	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	450
17.1	451	Force
16.2	452
24.1	453	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	454
17.1	455	Open / Close
16.2	456
24.1	457	These are shortcut buttons to either fully open or fully close the gripper.
16.4	458
24.1	459	Sequencer
	460
	461	The sequencer displays the gripper position as joint 7 (J7).
	462
	463	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.
	464
23.1	465	== 3D Model ==
16.4	466
23.1	467	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.
	468
	469	View Controls
	470
24.1	471	Zoom: Shift + Middle Scroll
23.1	472
24.1	473	Rotate: Shift + Middle Mouse
	474
	475	Pan: None
	476
23.1	477	== Manual Move ==
	478
	479	Angular Control
	480
	481	In angular mode, the user can control the angle of each joint
	482
16.4	483	Coordinates Control
	484
23.1	485	In coordinate control the user can control the cartesian position of the end effector
	486
	487	End Effector Lock
	488
	489	The orientation of the end effector can be locked.
	490
15.2	491	== Direct Command ==
15.1	492
15.2	493	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	494
15.2	495	A few things to keep in mind when using this:
15.1	496
15.2	497	* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	498	* Sending commands does not require ‘#’ and ‘\r’ chars.
	499	** example for #2\r you should enter 2Q and press the "SEND" button
12.1	500	* The commands are validated, and it shows a notification in case of error.
15.2	501	* The replies of queries are shown in the text field below.
12.1	502
23.1	503	== Command Output ==
	504
	505	//{Coming Soon}//
	506
16.3	507	== Telemetry ==
	508
17.1	509	Data to Display
16.3	510
23.1	511	//{Coming Soon}//
	512
17.1	513	Display / Hide Actuator
16.3	514
23.1	515	//{Coming Soon}//
	516
24.1	517	== Sequencer ==
23.1	518
	519	Frames
	520
	521	//{Coming Soon}//
	522
	523	Record
	524
	525	//{Coming Soon}//
	526
	527	Edit
	528
	529	Time, angles, gripper
	530
24.1	531	//Alt + Left Click = Drag time//
23.1	532
	533	Reorder
	534
	535	//{Coming Soon}//
	536
	537	Play
	538
	539	//{Coming Soon}//
	540
	541	Errors
	542
	543	//{Coming Soon}//
27.1	544	{{/comment}}

Wiki source code of SES-PRO Robotic Arm UI

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