Quickstart Flow

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

• Neither the servos nor the arm are meant to be operated in proximity of humans as they do not have "collaborative" (COBOT) features and do not detect collision
• The servos use stepper motors and do NOT include mechanical brakes. If the stepper motor is unable to retain or move to a desired angle (insufficient torque), the motor will rotate freely as opposed to hold the last position

It's a good thing to practice with the software without an Arm connected, that way you can learn safely.

IMPORTANT

Payload Considerations

1. The rated payload for each arm does NOT include an end effector, nor any added distance between the center of mass of the payload and the output of the final joint. Each of the two compatible Lynxmotion PRO grippers reduce the maximum payload of each arm, and it is up to the user to known and understand the concept of "torque" and center of mass before adding an end effector and payload.
2. The rated maximum payload for each arm (at full reach) is at the rated speed for each motor. Moving any joint at a higher speed will decrease the payload capacity of the robot.
3. Although each servo can provide significantly more torque than is needed for the rated payload (and therefore means the arm can support much higher loads at lower speeds, the mechanical and modular structure of the arms may fail. We strongly suggest testing and using each arm in a highly controlled and safe setting where, if a failure should occur with one or more joints, that nothing will break should the arm fall. 
4. The stepper motors provide the highest torque at low speeds, and lower torque at high speeds. Note that the maxium torque is not at the lowest speed as the torque to rpm curve for each servo resembles a "mountain".

Emergency

Halt (and hold)

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

Limp

All joints will go limp which mean there will be nothing avoiding them to turn freely (potentially causing the arm to fall). The high gear ratio of the strain wave gearing does mean there is some (low) level of resistant to rotation, but the gears and motor are not "locked" and as such, the arm may fall. The corresponding command is #254L<cr>.

Software E-Stop

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

Power Supply E-Stop

A hardware E-stop (push to cut power) button is located on the power supply which will cut electricity to all actuators. Similar to a limp command, this can possibly cause the arm to fall. To reset this button, rotate the red "mushroom" in the direction indicated by the white arrows and it will spring out. 

Robotic Arm

Model

The software currently supports the following Lynxmotion PRO Arms:

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

In practice, each 5DoF arm has joint 4 at a fixed angle, otherwise the arms are identical to the 6DoF. Users can always purchase the missing actuator to upgrade to a 6DoF. 

COM Port

The first joint at the base (J1) must be connected via USB to a computer running the sofware. No other joints should have a USB connection. A USB 3.0 port or higher on the computer is suggested, as the lower communication speeds fo USB 2.0 or 1.0 may impede communication and cause unecessary delay or issues.

Connect / Disconnect

Once the COM port has been selection, the CONNECT button can be pressed, and once a servo has been found, the light next to it will go from red to green.

Gripper

Model

The software currently supports two models of Lynxmotion PRO compatible grippers based on DH Robots' PGE-50-40 and CGE-10-10 electric grippers. The Lynxmotion kits include hardware to mount the fingers in multiple different offsets for smaller or larger objects. In the sequencer, the position of the fingers for each gripper are included in the sequencer as G.

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

COM Port

Choose the appropriate COM port to which the gripper is connected (via its own USB cable). If you are not certain, you can check Windows -> Device Manager

Baudrate

The DH Robotics grippers provide the option to change the baud rate, though the default is 115200. If the gripper is configured by the user to a different baud rate, it is important to select the corresponding baud rate in the software.

Connect

Pressing CONNECT establishes a connection to the gripper and goes through the initilization process once, opening the gripper fully. Once connection has been established, the light next to the button will go from red to green.

Initialize

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

Position

Actual opening of the gripper in percent.

• The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
• Using the + and - signs will change the value incrementally.

Speed

Speed at which the gripper will travel.

• The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
• Using the + and - signs will change the value incrementally.

Force

Maximum force exerted by the gripper 

• The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
• Using the + and - signs will change the value incrementally.

Open / Close

These are shortcut buttons to either open or close the gripper. The fields can be set to the desired position for either Open or Close.

Sequencer

The sequencer displays the gripper position as joint G.

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

HINT: If you want the gripper to open or close on an object only at the end of a motion, create a separate frame where only G moves.

3D Model

The 3D model of the arm is shown as reference at all times. The display also includes a virtual plane to denote  the X-Y plane. The model updates based on the selection of the arm, gripper and finger configuration.

View Controls

Zoom: Shift + Middle Scroll

Rotate: Shift + Middle Mouse and mouse movements

Pan: None

Manual Move

Joints Control (angular)

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

• The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
• Using the + and - signs will change the value incrementally by the amount specified in the drop down menu.
• The RESET button will send the arm to Zero on all joints

Coordinates Control

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

End Effector Lock

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

Direct Command

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

A few things to keep in mind when using this:

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

Telemetry

Data to Display

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

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

Display / Hide 

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

Sequencer

Sequence

That's where you can create and edit the sequence you need to play in your particular project.

Sequence Selector

Multiple sequences can be open at once and this is where you will be selecting which one will be displayed and/or played.

Add

Create a new Sequence that will be automatically selected.

Subtract

Remove / Delete the currently selected Sequence.

Copy

Create a copy of the currently selected Sequence and add a "- copy" to it's name.

Save

Saving the currently selected sequence for future use.

Open

Opening a previously saved sequence.

Delete

Deleting the ALL sequence leaving an empty "Sequence 1" 

Frames

Those are frames or cards that will allow to move to specific positions. The user can either modify them by clicking on the Record button or manually edit them.

Add

Create a new frame / card in the selected sequence.

Add frames from Sequence

Will add the frame present in another sequence to the currently selected one. This is useful if you want to isolate some sequences and test them out alone than combine them in a master Sequence.

Record

Store the current positions of each joints including the gripper in the selected frame / card.

Remove

Delete the currently selected frame / card.

Copy

Copy all the positions from the selected frame / card.

Paste

Paste all the position from the previously copied frame / card to the selected one.

Invert

Invert the frame / card so the First one become the Last and everything in between too.

Frame

• Name: It's possible to change the name of the frame to better represent your sequence or application.
• Length: The frame length define the length of the movement and can be either entered manually or using "Alt + Left Click" and drag the frame.

Frame Position

Moving your cursor to the upper part of the frame will display a "hand" and then you can drag & drop the frame into a new position to re-order them.

Starting Frame

A start frame is required to calculate the speed for the first frame / card. This is usually the Zero point with all actuators being a 0deg but it's possible to make it yours by changing it manually or with the record button. 

Note: This frame will always be played at a fixed speed for all actuator which means they will not Stop at the same time.

Loop

The amount of time you want the particular sequence to play. If you click on the "Loop" test it will become Infinite.

Manual Edit

Manually create or edit an already made frame / card in this window. Each joints and gripper can be modified that way.

Zoom

Allow you to zoom In or Out making the time resolution change. Something nice when dealing with long sequences.

Play from Start

Start the sequence selected at the beginning.

Play

Start the sequence selected at the beginning OR where it was when Pause was pressed.

Pause

Only displayed once the sequence is started (play) and allows the user to pause the sequence anywhere. 

Stop

Stop the sequence & hold position.