Last modified by Eric Nantel on 2024/10/18 09:05
From version < 58.2 >
edited by Eric Nantel
on 2024/10/17 13:37
To version < 69.1
edited by Eric Nantel
on 2024/10/18 09:05
<
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Summary

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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**
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268 268  | |(% colspan="2" rowspan="1" %)(((
269 269  **Frames**
270 270  
271 -
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.
272 272  )))
273 273  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-add.png"/}}|(((
274 274  **Add**
275 275  
276 -
291 +Create a new frame / card in the selected sequence.
277 277  )))
278 278  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-sequence.png"/}}|(((
279 -**Sequence Selector**
294 +**Add frames from Sequence**
280 280  
281 -
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.
282 282  )))
283 283  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-record.png"/}}|(((
284 284  **Record**
285 285  
286 -
301 +Store the current positions of each joints including the gripper in the selected frame / card.
287 287  )))
288 288  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-delete.png"/}}|(((
289 289  **Remove**
290 290  
291 -
306 +Delete the currently selected frame / card.
292 292  )))
293 293  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-copy.png"/}}|(((
294 294  **Copy**
295 295  
296 -
311 +Copy all the positions from the selected frame / card.
297 297  )))
298 298  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-paste.png"/}}|(((
299 299  **Paste**
300 300  
301 -
316 +Paste all the position from the previously copied frame / card to the selected one.
302 302  )))
303 303  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-invert.png"/}}|(((
304 304  **Invert**
305 305  
306 -
321 +Invert the frame / card so the First one become the Last and everything in between too.
307 307  )))
308 308  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame.png"/}}|(((
309 309  **Frame**
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319 319  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-start.png"/}}|(((
320 320  **Starting Frame**
321 321  
322 -
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.
323 323  )))
324 324  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-loop.png"/}}|(((
325 325  **Loop**
326 326  
327 -
344 +The amount of time you want the particular sequence to play. If you click on the "Loop" test it will become Infinite.
328 328  )))
329 329  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-edit.png"/}}|(((
330 330  **Manual Edit**
331 331  
332 -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.
333 333  )))
334 334  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-zoom.png"/}}|(((
335 335  **Zoom**
336 336  
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 +
337 337  
338 338  )))
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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