Wiki source code of SES-PRO Robotic Arm UI Guide

Version 60.1 by Eric Nantel on 2024/10/17 14:04

44.1	1	{{toc/}}
	2
1.1	3	\|(% style="width:25px" %) \|(% colspan="2" rowspan="1" style="width:100px" %)(((
	4	Before proceeding with the guide, it is important to note the following:
	5
	6	* Neither the servos nor the arm are meant to be operated in proximity of humans as they do not have "collaborative" (COBOT) features and do not detect collision
	7	* The servos use stepper motors and do NOT include mechanical brakes. If the stepper motor is unable to retain or move to a desired angle (insufficient torque), the motor will rotate freely as opposed to hold the last position
34.2	8
	9	__It's a good thing to practice with the software without an Arm connected, that way you can learn safely.__
1.1	10	)))
47.1	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.
1.1	12	\| \|(% colspan="2" rowspan="1" %)(((
45.1	13	= IMPORTANT =
1.1	14	)))
	15	\| \|(% colspan="2" rowspan="1" %)(((
46.1	16	== Payload Considerations ==
1.1	17	)))
	18	\| \|(% colspan="2" rowspan="1" %)(((
	19	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.
	20	1. The rated maximum payload for each arm (at full reach) is at the rated speed for each motor. Moving any joint at a higher speed will decrease the payload capacity of the robot.
	21	1. Although each servo can provide significantly more torque than is needed for the rated payload (and therefore means the arm can support much higher loads at lower speeds, the mechanical and modular structure of the arms may fail. We strongly suggest testing and using each arm in a highly controlled and safe setting where, if a failure should occur with one or more joints, that nothing will break should the arm fall.
	22	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".
	23	)))
	24	\| \|(% colspan="2" rowspan="1" %)(((
45.1	25	== Emergency ==
1.1	26	)))
	27	\| \|(% 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.
	28	The following emergency options are available based on severity:
47.1	29	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-halt.png"/}}\|(((
1.1	30	Halt (and hold)
	31
	32	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
	33	)))
47.1	34	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-limp.png"/}}\|(((
1.1	35	Limp
	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>.
	38	)))
47.1	39	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-emergency.png"/}}\|(((
1.1	40	Software E-Stop
	41
	42	The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
	43	)))
	44	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	45	Power Supply E-Stop
	46
	47	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.
	48	)))
	49	\| \|(% colspan="2" rowspan="1" %)(((
45.1	50	= Robotic Arm =
1.1	51	)))
47.1	52	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-version.png"/}}\|(((
1.1	53	Model
	54
	55	The software currently supports the following Lynxmotion PRO Arms:
	56
	57	* 550mm 5DoF
	58	* 550mm 6DoF
	59	* 900mm 5DoF
	60	* 900mm 6DoF
	61
	62	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.
	63	)))
47.1	64	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-com.png"/}}\|(((
1.1	65	COM Port
	66
	67	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.
	68	)))
	69	\| \|(% style="text-align:center; vertical-align:middle" %)(((
47.1	70	{{lightbox image="ses-pro-robotic-arm-ui-connect.png"/}}
1.1	71
47.1	72	{{lightbox image="ses-pro-robotic-arm-ui-disconnect.png"/}}
1.1	73	)))\|(((
	74	Connect / Disconnect
	75
	76	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.
	77	)))
	78	\| \|(% colspan="2" rowspan="1" %)(((
45.1	79	= Gripper =
1.1	80	)))
47.1	81	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-version-drop.png"/}}\|(((
1.1	82	Model
	83
	84	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.
	85	)))
47.1	86	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-version.png"/}}\|(((
1.1	87	* PGE-50-40 (40mm default configuration)
	88	* PGE-50-40 (60mm configuration)
	89	* PGE-50-40 (80mm configuration)
	90	* CGE-10-10 (20mm configuration)
	91	* CGE-10-10 (40mm configuration)
	92	* CGE-10-10 (60mm configuration)
	93	)))
47.1	94	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-com.png"/}}\|(((
1.1	95	COM Port
	96
	97	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
	98	)))
47.1	99	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-baud.png"/}}\|(((
1.1	100	Baudrate
	101
	102	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.
	103	)))
47.1	104	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-connect.png"/}}\|(((
1.1	105	Connect
	106
	107	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.
	108	)))
47.1	109	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-init.png"/}}\|(((
1.1	110	Initialize
	111
	112	Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
	113
	114	(((
	115
	116	)))
	117	)))
47.1	118	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-position.png"/}}\|(((
1.1	119	Position
	120
	121
	122	)))
47.1	123	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-speed.png"/}}\|(((
1.1	124	Speed
	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.
	127	)))
47.1	128	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-force.png"/}}\|(((
1.1	129	Force
	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.
	132	)))
47.1	133	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-open-close.png"/}}\|(((
1.1	134	Open / Close
	135
	136	These are shortcut buttons to either fully open or fully close the gripper.
	137	)))
	138	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	139	Sequencer
	140
	141	The sequencer displays the gripper position as joint G.
	142
	143	Ex: #GP1000
	144	This command would be open the Gripper to Position 100.0%
	145
	146	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.
	147	)))
	148	\| \|(% colspan="2" rowspan="1" %)(((
45.1	149	= 3D Model =
1.1	150	)))
	151	\| \|(% colspan="2" rowspan="1" %)(((
	152	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.
	153	)))
47.1	154	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-3d.png"/}}\|(((
1.1	155	View Controls
	156
	157	Zoom: Shift + Middle Scroll
	158
	159	Rotate: Shift + Middle Mouse
	160
	161	Pan: None
	162	)))
	163	\| \|(% colspan="2" rowspan="1" %)(((
45.1	164	= Manual Move =
1.1	165	)))
47.1	166	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-joints.png"/}}\|(((
1.1	167	Joints Control (angular)
	168
	169	In Joints mode, the user can control the angle of each joint.
	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.
	173	* The RESET button will send the arm to Zero on all joints
	174	)))
47.1	175	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates.png"/}}\|(((
1.1	176	Coordinates Control
	177
	178	In coordinate control the user can control the cartesian position of the end effector
	179	)))
47.1	180	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates-lock.png"/}}\|(((
1.1	181	End Effector Lock
	182
	183	The orientation of the end effector can be locked with the "ENABLED" button.
	184	)))
	185	\| \|(% colspan="2" rowspan="1" %)(((
45.1	186	= Direct Command =
1.1	187	)))
	188	\| \|(% colspan="2" rowspan="1" %)(((
	189	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.
	190
	191	A few things to keep in mind when using this:
	192
	193	* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	194	* Sending commands does not require ‘#’ and ‘\r’ chars.
	195	** example for #2\r you should enter 2Q and press the "SEND" button
	196	* The commands are validated, and it shows a notification in case of error.
	197	* The replies of queries are shown in the text field below.
	198	)))
	199	\| \|(% colspan="2" rowspan="1" %)(((
45.1	200	= Telemetry =
1.1	201	)))
47.1	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"/}}\|(((
1.1	204	Data to Display
	205
	206	Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
	207
	208	* Position
	209	* Current
	210	* Linear Accel X
	211	* Linear Accel Y
	212	* Linear Accel Z
	213	* Angular Accel α
	214	* Angular Accel β
	215	* Angular Accel γ
	216	* MCU Temperature
	217	* PCB Temperature
	218	* Probe Temperature
	219	)))
47.1	220	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry-hide.png"/}}\|(((
1.1	221	Display / Hide
	222
	223	At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
	224	)))
	225	\| \|(% colspan="2" rowspan="1" %)(((
45.1	226	= Sequencer =
1.1	227	)))
33.2	228	\| \|(% colspan="2" rowspan="1" %)(((
	229	Sequence
	230
60.1	231	That's where you can create and edit the sequence you need to play in your particular project.
33.2	232	)))
47.1	233	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence.png"/}}\|(((
1.1	234	Sequence Selector
	235
58.1	236	Multiple sequences can be open at once and this is where you will be selecting which one will be displayed and/or played.
1.1	237	)))
47.1	238	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-add.png"/}}\|(((
1.1	239	Add
	240
58.1	241	Create a new Sequence that will be automatically selected.
1.1	242	)))
47.1	243	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-remove.png"/}}\|(((
58.1	244	Subtract
1.1	245
58.1	246	Remove / Delete the currently selected Sequence.
1.1	247	)))
47.1	248	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-copy.png"/}}\|(((
1.1	249	Copy
	250
58.1	251	Create a copy of the currently selected Sequence and add a "- copy" to it's name.
1.1	252	)))
47.1	253	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-save.png"/}}\|(((
1.1	254	Save
	255
58.1	256	Saving the currently selected sequence for future use.
1.1	257	)))
47.1	258	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-open.png"/}}\|(((
1.1	259	Open
	260
58.1	261	Opening a previously saved sequence.
1.1	262	)))
47.1	263	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-delete.png"/}}\|(((
1.1	264	Delete
	265
58.2	266	Deleting the ALL sequence leaving an empty "Sequence 1"
1.1	267	)))
56.1	268	\| \|(% colspan="2" rowspan="1" %)(((
	269	Frames
	270
59.1	271	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.
56.1	272	)))
47.1	273	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-add.png"/}}\|(((
1.1	274	Add
	275
59.1	276	Create a new frame / card in the selected sequence.
1.1	277	)))
47.1	278	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-sequence.png"/}}\|(((
1.1	279	Sequence Selector
	280
59.1	281	This button is to be removed in a future version, was there to select the sequence but ineffective at the moment.
1.1	282	)))
47.1	283	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-record.png"/}}\|(((
1.1	284	Record
	285
59.1	286	Store the current positions of each joints including the gripper in the selected frame / card.
1.1	287	)))
47.1	288	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-delete.png"/}}\|(((
43.1	289	Remove
1.1	290
59.1	291	Delete the currently selected frame / card.
1.1	292	)))
47.1	293	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-copy.png"/}}\|(((
1.1	294	Copy
	295
60.1	296	Copy all the positions from the selected frame / card.
1.1	297	)))
47.1	298	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-paste.png"/}}\|(((
1.1	299	Paste
	300
60.1	301	Paste all the position from the previously copied frame / card to the selected one.
1.1	302	)))
47.1	303	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-invert.png"/}}\|(((
43.1	304	Invert
1.1	305
60.1	306	Invert the frame / card so the First one become the Last and everything in between too.
1.1	307	)))
48.1	308	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame.png"/}}\|(((
	309	Frame
1.1	310
48.1	311	* Name: It's possible to change the name of the frame to better represent your sequence or application.
	312	* 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.
1.1	313	)))
54.1	314	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-drop.png"/}}\|(((
48.1	315	Frame Position
1.1	316
54.1	317	Moving your cursor to the upper part of the frame will display a "hand" and then you can drag & drop the frame into a new position to re-order them.
1.1	318	)))
48.1	319	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-start.png"/}}\|(((
	320	Starting Frame
1.1	321
60.1	322	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.
	323
	324	Note: This frame will always be played at a fixed speed for all actuator which means they will not Stop at the same time.
1.1	325	)))
48.1	326	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-loop.png"/}}\|(((
1.1	327	Loop
	328
60.1	329	The amount of time you want the particular sequence to play. If you click on the "Loop" test it will become Infinite.
1.1	330	)))
54.1	331	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-edit.png"/}}\|(((
1.1	332	Manual Edit
	333
60.1	334	Manually create or edit an already made frame / card in this window. Each joints and gripper can be modified that way.
1.1	335	)))
54.1	336	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-zoom.png"/}}\|(((
1.1	337	Zoom
	338
60.1	339	Allow you to zoom In or Out making the time resolution change. Something nice when dealing with long sequences.
1.1	340	)))

Wiki source code of SES-PRO Robotic Arm UI Guide

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