Last modified by Eric Nantel on 2024/10/18 09:05
From version < 55.1 >
edited by Eric Nantel
on 2024/10/16 15:29
To version < 69.1
edited by Eric Nantel
on 2024/10/18 09:05
<
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1 1  {{toc/}}
2 2  
3 +|(% colspan="6" style="text-align:center" %)(((
4 += Quickstart Flow =
5 +)))
6 +|(% style="text-align:center; vertical-align:middle" %)Arm model|(% style="text-align:center; vertical-align:middle" %)Arm COM Port|(% style="text-align:center; vertical-align:middle" %)Connect|(% style="text-align:center; vertical-align:middle" %)Gripper Model|(% style="text-align:center; vertical-align:middle" %)Gripper COM Port|(% style="text-align:center; vertical-align:middle" %)Gripper Connect
7 +|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-version.png"/}}|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-com.png"/}}|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-connect.png"/}}|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-version.png"/}}|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-com.png"/}}|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-connect.png"/}}
8 +
3 3  |(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
4 4  Before proceeding with the guide, it is important to note the following:
5 5  
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34 34  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-limp.png"/}}|(((
35 35  **Limp**
36 36  
37 -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>.
43 +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>.
38 38  )))
39 39  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-emergency.png"/}}|(((
40 40  **Software E-Stop**
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118 118  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-position.png"/}}|(((
119 119  **Position**
120 120  
121 -
127 +Actual opening of the gripper in percent.
128 +
129 +* The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
130 +* Using the + and - signs will change the value incrementally.
122 122  )))
123 123  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-speed.png"/}}|(((
124 124  **Speed**
125 125  
126 -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.
135 +Speed at which the gripper will travel.
136 +
137 +* The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
138 +* Using the + and - signs will change the value incrementally.
127 127  )))
128 128  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-force.png"/}}|(((
129 129  **Force**
130 130  
131 -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.
143 +Maximum force exerted by the gripper
144 +
145 +* The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
146 +* Using the + and - signs will change the value incrementally.
132 132  )))
133 133  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-open-close.png"/}}|(((
134 134  **Open / Close**
135 135  
136 -These are shortcut buttons to either fully open or fully close the gripper.
151 +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.
137 137  )))
138 138  | |(% style="text-align:center; vertical-align:middle" %) |(((
139 139  **Sequencer**
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156 156  
157 157  Zoom: Shift + Middle Scroll
158 158  
159 -Rotate: Shift + Middle Mouse
174 +Rotate: Shift + Middle Mouse and mouse movements
160 160  
161 161  Pan: None
162 162  )))
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168 168  
169 169  In Joints mode, the user can control the angle of each joint.
170 170  
171 -* The field can be clicked and changed using a keyboard.
172 -* Using the + and - sings will move by the amount specified in the drop down menu.
186 +* The field can be clicked and changed using a keyboard followed by an "ENTER" entry.
187 +* Using the + and - signs will change the value incrementally by the amount specified in the drop down menu.
173 173  * The RESET button will send the arm to Zero on all joints
174 174  )))
175 175  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates.png"/}}|(((
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228 228  | |(% colspan="2" rowspan="1" %)(((
229 229  **Sequence**
230 230  
231 -
246 +That's where you can create and edit the sequence you need to play in your particular project.
232 232  )))
233 233  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence.png"/}}|(((
234 234  **Sequence Selector**
235 235  
236 -
251 +Multiple sequences can be open at once and this is where you will be selecting which one will be displayed and/or played.
237 237  )))
238 238  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-add.png"/}}|(((
239 239  **Add**
240 240  
241 -
256 +Create a new Sequence that will be automatically selected.
242 242  )))
243 243  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-remove.png"/}}|(((
244 -**Substract**
259 +**Subtract**
245 245  
246 -
261 +Remove / Delete the currently selected Sequence.
247 247  )))
248 248  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-copy.png"/}}|(((
249 249  **Copy**
250 250  
251 -
266 +Create a copy of the currently selected Sequence and add a "- copy" to it's name.
252 252  )))
253 253  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-save.png"/}}|(((
254 254  **Save**
255 255  
256 -
271 +Saving the currently selected sequence for future use.
257 257  )))
258 258  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-open.png"/}}|(((
259 259  **Open**
260 260  
261 -
276 +Opening a previously saved sequence.
262 262  )))
263 263  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-delete.png"/}}|(((
264 264  **Delete**
265 265  
266 -
281 +Deleting the ALL sequence leaving an empty "Sequence 1"
267 267  )))
268 -| |(% colspan="2" rowspan="1" %)**Frames**
283 +| |(% colspan="2" rowspan="1" %)(((
284 +**Frames**
285 +
286 +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.
287 +)))
269 269  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-add.png"/}}|(((
270 270  **Add**
271 271  
272 -
291 +Create a new frame / card in the selected sequence.
273 273  )))
274 274  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-sequence.png"/}}|(((
275 -**Sequence Selector**
294 +**Add frames from Sequence**
276 276  
277 -
296 +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.
278 278  )))
279 279  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-record.png"/}}|(((
280 280  **Record**
281 281  
282 -
301 +Store the current positions of each joints including the gripper in the selected frame / card.
283 283  )))
284 284  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-delete.png"/}}|(((
285 285  **Remove**
286 286  
287 -
306 +Delete the currently selected frame / card.
288 288  )))
289 289  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-copy.png"/}}|(((
290 290  **Copy**
291 291  
292 -
311 +Copy all the positions from the selected frame / card.
293 293  )))
294 294  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-paste.png"/}}|(((
295 295  **Paste**
296 296  
297 -
316 +Paste all the position from the previously copied frame / card to the selected one.
298 298  )))
299 299  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-invert.png"/}}|(((
300 300  **Invert**
301 301  
302 -
321 +Invert the frame / card so the First one become the Last and everything in between too.
303 303  )))
304 304  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame.png"/}}|(((
305 305  **Frame**
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315 315  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-start.png"/}}|(((
316 316  **Starting Frame**
317 317  
318 -
337 +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.
338 +
339 +Note: This frame will always be played at a fixed speed for all actuator which means they will not Stop at the same time.
319 319  )))
320 320  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-loop.png"/}}|(((
321 321  **Loop**
322 322  
323 -
344 +The amount of time you want the particular sequence to play. If you click on the "Loop" test it will become Infinite.
324 324  )))
325 325  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-edit.png"/}}|(((
326 326  **Manual Edit**
327 327  
328 -Time, angles, gripper
349 +Manually create or edit an already made frame / card in this window. Each joints and gripper can be modified that way.
329 329  )))
330 330  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-zoom.png"/}}|(((
331 331  **Zoom**
332 332  
354 +Allow you to zoom In or Out making the time resolution change. Something nice when dealing with long sequences.
355 +)))
356 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-play-start.png"/}}|(((
357 +**Play from Start**
358 +
359 +Start the sequence selected at the beginning.
360 +)))
361 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-play.png"/}}|(((
362 +**Play**
363 +
364 +Start the sequence selected at the beginning OR where it was when Pause was pressed.
365 +)))
366 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-pause.png"/}}|(((
367 +**Pause**
368 +
369 +Only displayed once the sequence is started (play) and allows the user to pause the sequence anywhere.
370 +
333 333  
334 334  )))
373 +| |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-stop.png"/}}|(((
374 +**Stop**
375 +
376 +Stop the sequence & hold position.
377 +)))
ses-pro-robotic-arm-ui-sequencer-pause.png
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