Last modified by Eric Nantel on 2024/10/18 09:05
From version < 33.2 >
edited by Eric Nantel
on 2024/10/16 14:47
To version < 47.1 >
edited by Eric Nantel
on 2024/10/16 15:13
< >
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -1,18 +1,19 @@
1 -|(% colspan="3" %)(((
2 -= User Guide =
3 -)))
1 +{{toc/}}
2 +
4 4  |(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
5 5  Before proceeding with the guide, it is important to note the following:
6 6  
7 7  * 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
8 8  * 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
8 +
9 +__It's a good thing to practice with the software without an Arm connected, that way you can learn safely.__
9 9  )))
10 -| |(% 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.
11 +| |(% style="text-align:center; vertical-align:middle; width:150px" %){{lightbox image="ses-pro-robotic-arm-ui-info.png"/}}|Pressing the i "Information" icon in the software will bring you to the [[doc:ses-pro.ses-pro-software.ses-pro-arm-ui.WebHome]] page.
11 11  | |(% colspan="2" rowspan="1" %)(((
12 -== IMPORTANT ==
13 += IMPORTANT =
13 13  )))
14 14  | |(% colspan="2" rowspan="1" %)(((
15 -=== Payload Considerations ===
16 +== Payload Considerations ==
16 16  )))
17 17  | |(% colspan="2" rowspan="1" %)(((
18 18  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.
... ... @@ -21,21 +21,21 @@
21 21  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".
22 22  )))
23 23  | |(% colspan="2" rowspan="1" %)(((
24 -=== Emergency ===
25 +== Emergency ==
25 25  )))
26 26  | |(% 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. 
27 27  The following emergency options are available based on severity:
28 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]|(((
29 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-halt.png"/}}|(((
29 29  **Halt (and hold)**
30 30  
31 31  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
32 32  )))
33 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((
34 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-limp.png"/}}|(((
34 34  **Limp**
35 35  
36 36  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>.
37 37  )))
38 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]|(((
39 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-emergency.png"/}}|(((
39 39  **Software E-Stop**
40 40  
41 41  The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
... ... @@ -46,9 +46,9 @@
46 46  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.
47 47  )))
48 48  | |(% colspan="2" rowspan="1" %)(((
49 -== Arm Connection ==
50 += Robotic Arm =
50 50  )))
51 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
52 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-version.png"/}}|(((
52 52  **Model**
53 53  
54 54  The software currently supports the following Lynxmotion PRO Arms:
... ... @@ -60,15 +60,15 @@
60 60  
61 61  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.
62 62  )))
63 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]|(((
64 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-com.png"/}}|(((
64 64  **COM Port**
65 65  
66 66  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.
67 67  )))
68 68  | |(% style="text-align:center; vertical-align:middle" %)(((
69 -[[image:ses-pro-robotic-arm-ui-connect.png]]
70 +{{lightbox image="ses-pro-robotic-arm-ui-connect.png"/}}
70 70  
71 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
72 +{{lightbox image="ses-pro-robotic-arm-ui-disconnect.png"/}}
72 72  )))|(((
73 73  **Connect / Disconnect**
74 74  
... ... @@ -75,14 +75,14 @@
75 75  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.
76 76  )))
77 77  | |(% colspan="2" rowspan="1" %)(((
78 -== Gripper Controls ==
79 += Gripper =
79 79  )))
80 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
81 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-version-drop.png"/}}|(((
81 81  **Model**
82 82  
83 83  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.
84 84  )))
85 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-version.png]]|(((
86 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-version.png"/}}|(((
86 86  * PGE-50-40 (40mm default configuration)
87 87  * PGE-50-40 (60mm configuration)
88 88  * PGE-50-40 (80mm configuration)
... ... @@ -90,22 +90,22 @@
90 90  * CGE-10-10 (40mm configuration)
91 91  * CGE-10-10 (60mm configuration)
92 92  )))
93 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]|(((
94 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-com.png"/}}|(((
94 94  **COM Port**
95 95  
96 96  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
97 97  )))
98 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]|(((
99 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-baud.png"/}}|(((
99 99  **Baudrate**
100 100  
101 101  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.
102 102  )))
103 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-connect.png]]|(((
104 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-connect.png"/}}|(((
104 104  **Connect**
105 105  
106 106  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.
107 107  )))
108 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-init.png]]|(((
109 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-init.png"/}}|(((
109 109  **Initialize**
110 110  
111 111  Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
... ... @@ -114,22 +114,22 @@
114 114  
115 115  )))
116 116  )))
117 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]|(((
118 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-position.png"/}}|(((
118 118  **Position**
119 119  
120 120  
121 121  )))
122 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-speed.png]]|(((
123 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-speed.png"/}}|(((
123 123  **Speed**
124 124  
125 125  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.
126 126  )))
127 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]|(((
128 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-force.png"/}}|(((
128 128  **Force**
129 129  
130 130  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.
131 131  )))
132 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-open-close.png]]|(((
133 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-open-close.png"/}}|(((
133 133  **Open / Close**
134 134  
135 135  These are shortcut buttons to either fully open or fully close the gripper.
... ... @@ -145,12 +145,12 @@
145 145  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.
146 146  )))
147 147  | |(% colspan="2" rowspan="1" %)(((
148 -== 3D Model ==
149 += 3D Model =
149 149  )))
150 150  | |(% colspan="2" rowspan="1" %)(((
151 151  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.
152 152  )))
153 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-3d.png]]|(((
154 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-3d.png"/}}|(((
154 154  **View Controls**
155 155  
156 156  Zoom: Shift + Middle Scroll
... ... @@ -160,9 +160,9 @@
160 160  Pan: None
161 161  )))
162 162  | |(% colspan="2" rowspan="1" %)(((
163 -== Manual Move ==
164 += Manual Move =
164 164  )))
165 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((
166 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-joints.png"/}}|(((
166 166  **Joints Control (angular)**
167 167  
168 168  In Joints mode, the user can control the angle of each joint.
... ... @@ -171,18 +171,18 @@
171 171  * Using the + and - sings will move by the amount specified in the drop down menu.
172 172  * The RESET button will send the arm to Zero on all joints
173 173  )))
174 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates.png]]|(((
175 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates.png"/}}|(((
175 175  **Coordinates Control**
176 176  
177 177  In coordinate control the user can control the cartesian position of the end effector
178 178  )))
179 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates-lock.png]]|(((
180 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates-lock.png"/}}|(((
180 180  **End Effector Lock**
181 181  
182 182  The orientation of the end effector can be locked with the "ENABLED" button.
183 183  )))
184 184  | |(% colspan="2" rowspan="1" %)(((
185 -== Direct Command ==
186 += Direct Command =
186 186  )))
187 187  | |(% colspan="2" rowspan="1" %)(((
188 188  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.
... ... @@ -196,10 +196,10 @@
196 196  * The replies of queries are shown in the text field below.
197 197  )))
198 198  | |(% colspan="2" rowspan="1" %)(((
199 -== Telemetry ==
200 += Telemetry =
200 200  )))
201 -| |(% colspan="2" %)[[image:ses-pro-robotic-arm-ui-telemetry.png]]
202 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-drop.png]]|(((
202 +| |(% colspan="2" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry.png"/}}
203 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry-drop.png"/}}|(((
203 203  **Data to Display**
204 204  
205 205  Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
... ... @@ -216,13 +216,13 @@
216 216  * PCB Temperature
217 217  * Probe Temperature
218 218  )))
219 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-hide.png]]|(((
220 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry-hide.png"/}}|(((
220 220  **Display / Hide **
221 221  
222 222  At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
223 223  )))
224 224  | |(% colspan="2" rowspan="1" %)(((
225 -== Sequencer ==
226 += Sequencer =
226 226  )))
227 227  | |(% colspan="2" rowspan="1" %)(((
228 228  **Sequence**
... ... @@ -229,74 +229,74 @@
229 229  
230 230  
231 231  )))
232 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence.png]]|(((
233 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence.png"/}}|(((
233 233  **Sequence Selector**
234 234  
235 235  
236 236  )))
237 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-add.png]]|(((
238 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-add.png"/}}|(((
238 238  **Add**
239 239  
240 240  
241 241  )))
242 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-remove.png]]|(((
243 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-remove.png"/}}|(((
243 243  **Substract**
244 244  
245 245  
246 246  )))
247 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-copy.png]]|(((
248 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-copy.png"/}}|(((
248 248  **Copy**
249 249  
250 250  
251 251  )))
252 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-save.png]]|(((
253 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-save.png"/}}|(((
253 253  **Save**
254 254  
255 255  
256 256  )))
257 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-open.png]]|(((
258 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-open.png"/}}|(((
258 258  **Open**
259 259  
260 260  
261 261  )))
262 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-delete.png]]|(((
263 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-delete.png"/}}|(((
263 263  **Delete**
264 264  
265 265  
266 266  )))
267 267  | |(% colspan="2" rowspan="1" %)**Frames**
268 -| |(% style="text-align:center; vertical-align:middle" %) |(((
269 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-add.png"/}}|(((
269 269  **Add**
270 270  
271 271  
272 272  )))
273 -| |(% style="text-align:center; vertical-align:middle" %) |(((
274 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-sequence.png"/}}|(((
274 274  **Sequence Selector**
275 275  
276 276  
277 277  )))
278 -| |(% style="text-align:center; vertical-align:middle" %) |(((
279 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-record.png"/}}|(((
279 279  **Record**
280 280  
281 281  
282 282  )))
283 -| |(% style="text-align:center; vertical-align:middle" %) |(((
284 -**Delete**
284 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-delete.png"/}}|(((
285 +**Remove**
285 285  
286 286  
287 287  )))
288 -| |(% style="text-align:center; vertical-align:middle" %) |(((
289 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-copy.png"/}}|(((
289 289  **Copy**
290 290  
291 291  
292 292  )))
293 -| |(% style="text-align:center; vertical-align:middle" %) |(((
294 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-paste.png"/}}|(((
294 294  **Paste**
295 295  
296 296  
297 297  )))
298 -| |(% style="text-align:center; vertical-align:middle" %) |(((
299 -**Swap**
299 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-invert.png"/}}|(((
300 +**Invert**
300 300  
301 301  
302 302  )))
... ... @@ -330,6 +330,3 @@
330 330  
331 331  
332 332  )))
333 -| |(% colspan="2" rowspan="1" %)**Errors**
334 -| |(% style="text-align:center; vertical-align:middle" %) |
335 -| |(% style="text-align:center; vertical-align:middle" %) |
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