Last modified by Eric Nantel on 2024/10/18 09:05
From version < 34.1 >
edited by Eric Nantel
on 2024/10/16 14:48
To version < 46.1 >
edited by Eric Nantel
on 2024/10/16 15:07
< >
Change comment: There is no comment for this version

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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" %)[[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.
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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:
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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 51  | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
52 52  **Model**
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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 80  | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
81 81  **Model**
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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.
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160 160  Pan: None
161 161  )))
162 162  | |(% colspan="2" rowspan="1" %)(((
163 -== Manual Move ==
164 += Manual Move =
164 164  )))
165 165  | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((
166 166  **Joints Control (angular)**
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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.
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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  )))
201 201  | |(% colspan="2" %)[[image:ses-pro-robotic-arm-ui-telemetry.png]]
202 202  | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-drop.png]]|(((
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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**
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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" %)[[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" %)[[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" %)[[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" %)[[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" %)[[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" %)[[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" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-invert.png]]|(((
300 +**Invert**
300 300  
301 301  
302 302  )))
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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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