Last modified by Eric Nantel on 2024/10/18 09:05
From version < 43.1 >
edited by Eric Nantel
on 2024/10/16 15:05
To version < 50.1 >
edited by Eric Nantel
on 2024/10/16 15:26
< >
Change comment: Upload new image "ses-pro-robotic-arm-ui-sequencer-loop.png", version 1.1

Summary

Details

Page properties
Content
... ... @@ -1,6 +1,5 @@
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  
... ... @@ -9,12 +9,12 @@
9 9  
10 10  __It's a good thing to practice with the software without an Arm connected, that way you can learn safely.__
11 11  )))
12 -| |(% 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 +| |(% 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.
13 13  | |(% colspan="2" rowspan="1" %)(((
14 -== IMPORTANT ==
13 += IMPORTANT =
15 15  )))
16 16  | |(% colspan="2" rowspan="1" %)(((
17 -=== Payload Considerations ===
16 +== Payload Considerations ==
18 18  )))
19 19  | |(% colspan="2" rowspan="1" %)(((
20 20  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.
... ... @@ -23,21 +23,21 @@
23 23  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".
24 24  )))
25 25  | |(% colspan="2" rowspan="1" %)(((
26 -=== Emergency ===
25 +== Emergency ==
27 27  )))
28 28  | |(% 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. 
29 29  The following emergency options are available based on severity:
30 -| |(% 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"/}}|(((
31 31  **Halt (and hold)**
32 32  
33 33  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
34 34  )))
35 -| |(% 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"/}}|(((
36 36  **Limp**
37 37  
38 38  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>.
39 39  )))
40 -| |(% 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"/}}|(((
41 41  **Software E-Stop**
42 42  
43 43  The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
... ... @@ -48,9 +48,9 @@
48 48  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.
49 49  )))
50 50  | |(% colspan="2" rowspan="1" %)(((
51 -== Arm Connection ==
50 += Robotic Arm =
52 52  )))
53 -| |(% 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"/}}|(((
54 54  **Model**
55 55  
56 56  The software currently supports the following Lynxmotion PRO Arms:
... ... @@ -62,15 +62,15 @@
62 62  
63 63  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.
64 64  )))
65 -| |(% 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"/}}|(((
66 66  **COM Port**
67 67  
68 68  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.
69 69  )))
70 70  | |(% style="text-align:center; vertical-align:middle" %)(((
71 -[[image:ses-pro-robotic-arm-ui-connect.png]]
70 +{{lightbox image="ses-pro-robotic-arm-ui-connect.png"/}}
72 72  
73 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
72 +{{lightbox image="ses-pro-robotic-arm-ui-disconnect.png"/}}
74 74  )))|(((
75 75  **Connect / Disconnect**
76 76  
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77 77  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.
78 78  )))
79 79  | |(% colspan="2" rowspan="1" %)(((
80 -== Gripper Controls ==
79 += Gripper =
81 81  )))
82 -| |(% 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"/}}|(((
83 83  **Model**
84 84  
85 85  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.
86 86  )))
87 -| |(% 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"/}}|(((
88 88  * PGE-50-40 (40mm default configuration)
89 89  * PGE-50-40 (60mm configuration)
90 90  * PGE-50-40 (80mm configuration)
... ... @@ -92,22 +92,22 @@
92 92  * CGE-10-10 (40mm configuration)
93 93  * CGE-10-10 (60mm configuration)
94 94  )))
95 -| |(% 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"/}}|(((
96 96  **COM Port**
97 97  
98 98  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
99 99  )))
100 -| |(% 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"/}}|(((
101 101  **Baudrate**
102 102  
103 103  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.
104 104  )))
105 -| |(% 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"/}}|(((
106 106  **Connect**
107 107  
108 108  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.
109 109  )))
110 -| |(% 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"/}}|(((
111 111  **Initialize**
112 112  
113 113  Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
... ... @@ -116,22 +116,22 @@
116 116  
117 117  )))
118 118  )))
119 -| |(% 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"/}}|(((
120 120  **Position**
121 121  
122 122  
123 123  )))
124 -| |(% 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"/}}|(((
125 125  **Speed**
126 126  
127 127  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.
128 128  )))
129 -| |(% 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"/}}|(((
130 130  **Force**
131 131  
132 132  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.
133 133  )))
134 -| |(% 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"/}}|(((
135 135  **Open / Close**
136 136  
137 137  These are shortcut buttons to either fully open or fully close the gripper.
... ... @@ -147,12 +147,12 @@
147 147  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.
148 148  )))
149 149  | |(% colspan="2" rowspan="1" %)(((
150 -== 3D Model ==
149 += 3D Model =
151 151  )))
152 152  | |(% colspan="2" rowspan="1" %)(((
153 153  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.
154 154  )))
155 -| |(% 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"/}}|(((
156 156  **View Controls**
157 157  
158 158  Zoom: Shift + Middle Scroll
... ... @@ -162,9 +162,9 @@
162 162  Pan: None
163 163  )))
164 164  | |(% colspan="2" rowspan="1" %)(((
165 -== Manual Move ==
164 += Manual Move =
166 166  )))
167 -| |(% 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"/}}|(((
168 168  **Joints Control (angular)**
169 169  
170 170  In Joints mode, the user can control the angle of each joint.
... ... @@ -173,18 +173,18 @@
173 173  * Using the + and - sings will move by the amount specified in the drop down menu.
174 174  * The RESET button will send the arm to Zero on all joints
175 175  )))
176 -| |(% 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"/}}|(((
177 177  **Coordinates Control**
178 178  
179 179  In coordinate control the user can control the cartesian position of the end effector
180 180  )))
181 -| |(% 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"/}}|(((
182 182  **End Effector Lock**
183 183  
184 184  The orientation of the end effector can be locked with the "ENABLED" button.
185 185  )))
186 186  | |(% colspan="2" rowspan="1" %)(((
187 -== Direct Command ==
186 += Direct Command =
188 188  )))
189 189  | |(% colspan="2" rowspan="1" %)(((
190 190  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.
... ... @@ -198,10 +198,10 @@
198 198  * The replies of queries are shown in the text field below.
199 199  )))
200 200  | |(% colspan="2" rowspan="1" %)(((
201 -== Telemetry ==
200 += Telemetry =
202 202  )))
203 -| |(% colspan="2" %)[[image:ses-pro-robotic-arm-ui-telemetry.png]]
204 -| |(% 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"/}}|(((
205 205  **Data to Display**
206 206  
207 207  Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
... ... @@ -218,13 +218,13 @@
218 218  * PCB Temperature
219 219  * Probe Temperature
220 220  )))
221 -| |(% 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"/}}|(((
222 222  **Display / Hide **
223 223  
224 224  At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
225 225  )))
226 226  | |(% colspan="2" rowspan="1" %)(((
227 -== Sequencer ==
226 += Sequencer =
228 228  )))
229 229  | |(% colspan="2" rowspan="1" %)(((
230 230  **Sequence**
... ... @@ -231,93 +231,94 @@
231 231  
232 232  
233 233  )))
234 -| |(% 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"/}}|(((
235 235  **Sequence Selector**
236 236  
237 237  
238 238  )))
239 -| |(% 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"/}}|(((
240 240  **Add**
241 241  
242 242  
243 243  )))
244 -| |(% 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"/}}|(((
245 245  **Substract**
246 246  
247 247  
248 248  )))
249 -| |(% 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"/}}|(((
250 250  **Copy**
251 251  
252 252  
253 253  )))
254 -| |(% 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"/}}|(((
255 255  **Save**
256 256  
257 257  
258 258  )))
259 -| |(% 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"/}}|(((
260 260  **Open**
261 261  
262 262  
263 263  )))
264 -| |(% 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"/}}|(((
265 265  **Delete**
266 266  
267 267  
268 268  )))
269 269  | |(% colspan="2" rowspan="1" %)**Frames**
270 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-add.png]]|(((
269 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-add.png"/}}|(((
271 271  **Add**
272 272  
273 273  
274 274  )))
275 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-sequence.png]]|(((
274 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-sequence.png"/}}|(((
276 276  **Sequence Selector**
277 277  
278 278  
279 279  )))
280 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-record.png]]|(((
279 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-record.png"/}}|(((
281 281  **Record**
282 282  
283 283  
284 284  )))
285 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-delete.png]]|(((
284 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-delete.png"/}}|(((
286 286  **Remove**
287 287  
288 288  
289 289  )))
290 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-copy.png]]|(((
289 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-copy.png"/}}|(((
291 291  **Copy**
292 292  
293 293  
294 294  )))
295 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-paste.png]]|(((
294 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-paste.png"/}}|(((
296 296  **Paste**
297 297  
298 298  
299 299  )))
300 -| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-invert.png]]|(((
299 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-invert.png"/}}|(((
301 301  **Invert**
302 302  
303 303  
304 304  )))
305 -| |(% style="text-align:center; vertical-align:middle" %) |(((
306 -**Frame Name**
304 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame.png"/}}|(((
305 +**Frame**
307 307  
308 -
307 +* **Name:** It's possible to change the name of the frame to better represent your sequence or application.
308 +* **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.
309 309  )))
310 310  | |(% style="text-align:center; vertical-align:middle" %) |(((
311 -**Frame length**
311 +**Frame Position**
312 312  
313 -//Alt + Left Click = Drag time//
313 +Moving your cursor to the upper part of the frame will display a "hand" and then you can drag the frame into a new position.
314 314  )))
315 -| |(% style="text-align:center; vertical-align:middle" %) |(((
316 -**Frame Move**
315 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-start.png"/}}|(((
316 +**Starting Frame**
317 317  
318 318  
319 319  )))
320 -| |(% style="text-align:center; vertical-align:middle" %) |(((
320 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-loop.png"/}}|(((
321 321  **Loop**
322 322  
323 323  
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