Last modified by Eric Nantel on 2024/10/18 09:05
From version < 68.1 >
edited by Eric Nantel
on 2024/10/18 09:01
To version < 58.1 >
edited by Eric Nantel
on 2024/10/17 13:18
< >
Change comment: There is no comment for this version

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 -
9 9  |(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
10 10  Before proceeding with the guide, it is important to note the following:
11 11  
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40 40  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-limp.png"/}}|(((
41 41  **Limp**
42 42  
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>.
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>.
44 44  )))
45 45  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-emergency.png"/}}|(((
46 46  **Software E-Stop**
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124 124  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-position.png"/}}|(((
125 125  **Position**
126 126  
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.
121 +
131 131  )))
132 132  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-speed.png"/}}|(((
133 133  **Speed**
134 134  
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.
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.
139 139  )))
140 140  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-force.png"/}}|(((
141 141  **Force**
142 142  
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.
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.
147 147  )))
148 148  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-open-close.png"/}}|(((
149 149  **Open / Close**
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183 183  
184 184  In Joints mode, the user can control the angle of each joint.
185 185  
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.
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.
188 188  * The RESET button will send the arm to Zero on all joints
189 189  )))
190 190  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates.png"/}}|(((
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243 243  | |(% colspan="2" rowspan="1" %)(((
244 244  **Sequence**
245 245  
246 -That's where you can create and edit the sequence you need to play in your particular project.
231 +
247 247  )))
248 248  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence.png"/}}|(((
249 249  **Sequence Selector**
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278 278  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-delete.png"/}}|(((
279 279  **Delete**
280 280  
281 -Deleting the ALL sequence leaving an empty "Sequence 1"
266 +Deleting the currently selected sequence.
282 282  )))
283 283  | |(% colspan="2" rowspan="1" %)(((
284 284  **Frames**
285 285  
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.
271 +
287 287  )))
288 288  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-add.png"/}}|(((
289 289  **Add**
290 290  
291 -Create a new frame / card in the selected sequence.
276 +
292 292  )))
293 293  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-sequence.png"/}}|(((
294 294  **Sequence Selector**
295 295  
296 -This button is to be removed in a future version, was there to select the sequence but ineffective at the moment.
281 +
297 297  )))
298 298  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-record.png"/}}|(((
299 299  **Record**
300 300  
301 -Store the current positions of each joints including the gripper in the selected frame / card.
286 +
302 302  )))
303 303  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-delete.png"/}}|(((
304 304  **Remove**
305 305  
306 -Delete the currently selected frame / card.
291 +
307 307  )))
308 308  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-copy.png"/}}|(((
309 309  **Copy**
310 310  
311 -Copy all the positions from the selected frame / card.
296 +
312 312  )))
313 313  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-paste.png"/}}|(((
314 314  **Paste**
315 315  
316 -Paste all the position from the previously copied frame / card to the selected one.
301 +
317 317  )))
318 318  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-invert.png"/}}|(((
319 319  **Invert**
320 320  
321 -Invert the frame / card so the First one become the Last and everything in between too.
306 +
322 322  )))
323 323  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame.png"/}}|(((
324 324  **Frame**
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334 334  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-start.png"/}}|(((
335 335  **Starting Frame**
336 336  
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.
322 +
340 340  )))
341 341  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-loop.png"/}}|(((
342 342  **Loop**
343 343  
344 -The amount of time you want the particular sequence to play. If you click on the "Loop" test it will become Infinite.
327 +
345 345  )))
346 346  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-edit.png"/}}|(((
347 347  **Manual Edit**
348 348  
349 -Manually create or edit an already made frame / card in this window. Each joints and gripper can be modified that way.
332 +Time, angles, gripper
350 350  )))
351 351  | |(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-zoom.png"/}}|(((
352 352  **Zoom**
353 353  
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.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 -
371 371  
372 372  )))
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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