Changes for page SES-PRO Robotic Arm UI Guide

Last modified by Eric Nantel on 2024/10/18 09:05

From version < 48.1 >

edited by Eric Nantel
on 2024/10/16 15:25

To version < 43.1 >

edited by Eric Nantel
on 2024/10/16 15:05

< >

Change comment: There is no comment for this version

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@@ -1,5
          +1,6 @@
--{{toc/}}
--
++|(% colspan="3" %)(((
++= User Guide =
++)))
  |(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
  Before proceeding with the guide, it is important to note the following:
@@ -8,12
          +8,12 @@
  __It's a good thing to practice with the software without an Arm connected, that way you can learn safely.__
  )))
--| |(% 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.
++| |(% 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.
  | |(% colspan="2" rowspan="1" %)(((
--= IMPORTANT =
++== IMPORTANT ==
  )))
  | |(% colspan="2" rowspan="1" %)(((
--== Payload Considerations ==
++=== Payload Considerations ===
  )))
  | |(% colspan="2" rowspan="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.
@@ -22,21
          +22,21 @@
 . 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".
  )))
  | |(% colspan="2" rowspan="1" %)(((
--== Emergency ==
++=== Emergency ===
  )))
  | |(% 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.
  The following emergency options are available based on severity:
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-halt.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]|(((
  **Halt (and hold)**
  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-limp.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((
  **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 nto "locked" and as such, the arm may fall. The corresponding command is #254L<cr>.
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-emergency.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]|(((
  **Software E-Stop**
  The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
@@ -47,9
          +47,9 @@
  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.
  )))
  | |(% colspan="2" rowspan="1" %)(((
--= Robotic Arm =
++== Arm Connection ==
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-version.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
  **Model**
  The software currently supports the following Lynxmotion PRO Arms:
@@ -61,15
          +61,15 @@
  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.
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-com.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]|(((
  **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.
  )))
  | |(% style="text-align:center; vertical-align:middle" %)(((
--{{lightbox image="ses-pro-robotic-arm-ui-connect.png"/}}
++[[image:ses-pro-robotic-arm-ui-connect.png]]
--{{lightbox image="ses-pro-robotic-arm-ui-disconnect.png"/}}
++[[image:ses-pro-robotic-arm-ui-disconnect.png]]
  )))|(((
  **Connect / Disconnect**
@@ -76,14
          +76,14 @@
  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.
  )))
  | |(% colspan="2" rowspan="1" %)(((
--= Gripper =
++== Gripper Controls ==
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-version-drop.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
  **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.
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-version.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-version.png]]|(((
  * PGE-50-40 (40mm default configuration)
  * PGE-50-40 (60mm configuration)
  * PGE-50-40 (80mm configuration)
@@ -91,22
          +91,22 @@
  * CGE-10-10 (40mm configuration)
  * CGE-10-10 (60mm configuration)
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-com.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-com.png]]|(((
  **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
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-baud.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-baud.png]]|(((
  **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.
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-connect.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-connect.png]]|(((
  **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.
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-init.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-init.png]]|(((
  **Initialize**
  Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
@@ -115,22
          +115,22 @@
  )))
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-position.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-position.png]]|(((
  **Position**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-speed.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-speed.png]]|(((
  **Speed**
  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.
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-force.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-force.png]]|(((
  **Force**
  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.
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-open-close.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-gripper-open-close.png]]|(((
  **Open / Close**
  These are shortcut buttons to either fully open or fully close the gripper.
@@ -146,12
          +146,12 @@
  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.
  )))
  | |(% colspan="2" rowspan="1" %)(((
--= 3D Model =
++== 3D Model ==
  )))
  | |(% colspan="2" rowspan="1" %)(((
  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.
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-3d.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-3d.png]]|(((
  **View Controls**
  Zoom: Shift + Middle Scroll
@@ -161,9
          +161,9 @@
  Pan: None
  )))
  | |(% colspan="2" rowspan="1" %)(((
--= Manual Move =
++== Manual Move ==
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-joints.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-joints.png]]|(((
  **Joints Control (angular)**
  In Joints mode, the user can control the angle of each joint.
@@ -172,18
          +172,18 @@
  * Using the + and - sings will move by the amount specified in the drop down menu.
  * The RESET button will send the arm to Zero on all joints
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates.png]]|(((
  **Coordinates Control**
  In coordinate control the user can control the cartesian position of the end effector
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates-lock.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-coordinates-lock.png]]|(((
  **End Effector Lock**
  The orientation of the end effector can be locked with the "ENABLED" button.
  )))
  | |(% colspan="2" rowspan="1" %)(((
--= Direct Command =
++== Direct Command ==
  )))
  | |(% colspan="2" rowspan="1" %)(((
  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.
@@ -197,10
          +197,10 @@
  * The replies of queries are shown in the text field below.
  )))
  | |(% colspan="2" rowspan="1" %)(((
--= Telemetry =
++== Telemetry ==
  )))
--| |(% colspan="2" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry.png"/}}
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry-drop.png"/}}|(((
++| |(% colspan="2" %)[[image:ses-pro-robotic-arm-ui-telemetry.png]]
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-drop.png]]|(((
  **Data to Display**
  Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
@@ -217,13
          +217,13 @@
  * PCB Temperature
  * Probe Temperature
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry-hide.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-telemetry-hide.png]]|(((
  **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.
  )))
  | |(% colspan="2" rowspan="1" %)(((
--= Sequencer =
++== Sequencer ==
  )))
  | |(% colspan="2" rowspan="1" %)(((
  **Sequence**
@@ -230,94
          +230,93 @@
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence.png]]|(((
  **Sequence Selector**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-add.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-add.png]]|(((
  **Add**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-remove.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-remove.png]]|(((
  **Substract**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-copy.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-copy.png]]|(((
  **Copy**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-save.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-save.png]]|(((
  **Save**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-open.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-open.png]]|(((
  **Open**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-delete.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-sequence-delete.png]]|(((
  **Delete**
  )))
  | |(% colspan="2" rowspan="1" %)**Frames**
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-add.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-add.png]]|(((
  **Add**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-sequence.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-sequence.png]]|(((
  **Sequence Selector**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-record.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-record.png]]|(((
  **Record**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-delete.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-delete.png]]|(((
  **Remove**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-copy.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-copy.png]]|(((
  **Copy**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-paste.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-paste.png]]|(((
  **Paste**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-invert.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-sequencer-frame-invert.png]]|(((
  **Invert**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame.png"/}}|(((
--**Frame**
++| |(% style="text-align:center; vertical-align:middle" %) |(((
++**Frame Name**
--* **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.
++
  )))
  | |(% style="text-align:center; vertical-align:middle" %) |(((
--**Frame Position**
++**Frame length**
--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.
++//Alt + Left Click = Drag time//
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-start.png"/}}|(((
--**Starting Frame**
++| |(% style="text-align:center; vertical-align:middle" %) |(((
++**Frame Move**
  )))
--| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-loop.png"/}}|(((
++| |(% style="text-align:center; vertical-align:middle" %) |(((
  **Loop**

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