Wiki source code of SES-PRO Robotic Arm UI Guide

Version 66.1 by Eric Nantel on 2024/10/17 14:31

44.1	1	{{toc/}}
	2
61.1	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
1.1	9	\|(% style="width:25px" %) \|(% colspan="2" rowspan="1" style="width:100px" %)(((
	10	Before proceeding with the guide, it is important to note the following:
	11
	12	* 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
	13	* 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	14
	15	__It's a good thing to practice with the software without an Arm connected, that way you can learn safely.__
1.1	16	)))
47.1	17	\| \|(% 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	18	\| \|(% colspan="2" rowspan="1" %)(((
45.1	19	= IMPORTANT =
1.1	20	)))
	21	\| \|(% colspan="2" rowspan="1" %)(((
46.1	22	== Payload Considerations ==
1.1	23	)))
	24	\| \|(% colspan="2" rowspan="1" %)(((
	25	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.
	26	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.
	27	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.
	28	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".
	29	)))
	30	\| \|(% colspan="2" rowspan="1" %)(((
45.1	31	== Emergency ==
1.1	32	)))
	33	\| \|(% 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.
	34	The following emergency options are available based on severity:
47.1	35	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-halt.png"/}}\|(((
1.1	36	Halt (and hold)
	37
	38	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
	39	)))
47.1	40	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-limp.png"/}}\|(((
1.1	41	Limp
	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 nto "locked" and as such, the arm may fall. The corresponding command is #254L<cr>.
	44	)))
47.1	45	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-emergency.png"/}}\|(((
1.1	46	Software E-Stop
	47
	48	The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
	49	)))
	50	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	51	Power Supply E-Stop
	52
	53	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.
	54	)))
	55	\| \|(% colspan="2" rowspan="1" %)(((
45.1	56	= Robotic Arm =
1.1	57	)))
47.1	58	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-version.png"/}}\|(((
1.1	59	Model
	60
	61	The software currently supports the following Lynxmotion PRO Arms:
	62
	63	* 550mm 5DoF
	64	* 550mm 6DoF
	65	* 900mm 5DoF
	66	* 900mm 6DoF
	67
	68	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.
	69	)))
47.1	70	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-com.png"/}}\|(((
1.1	71	COM Port
	72
	73	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.
	74	)))
	75	\| \|(% style="text-align:center; vertical-align:middle" %)(((
47.1	76	{{lightbox image="ses-pro-robotic-arm-ui-connect.png"/}}
1.1	77
47.1	78	{{lightbox image="ses-pro-robotic-arm-ui-disconnect.png"/}}
1.1	79	)))\|(((
	80	Connect / Disconnect
	81
	82	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.
	83	)))
	84	\| \|(% colspan="2" rowspan="1" %)(((
45.1	85	= Gripper =
1.1	86	)))
47.1	87	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-version-drop.png"/}}\|(((
1.1	88	Model
	89
	90	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.
	91	)))
47.1	92	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-version.png"/}}\|(((
1.1	93	* PGE-50-40 (40mm default configuration)
	94	* PGE-50-40 (60mm configuration)
	95	* PGE-50-40 (80mm configuration)
	96	* CGE-10-10 (20mm configuration)
	97	* CGE-10-10 (40mm configuration)
	98	* CGE-10-10 (60mm configuration)
	99	)))
47.1	100	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-com.png"/}}\|(((
1.1	101	COM Port
	102
	103	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
	104	)))
47.1	105	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-baud.png"/}}\|(((
1.1	106	Baudrate
	107
	108	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.
	109	)))
47.1	110	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-connect.png"/}}\|(((
1.1	111	Connect
	112
	113	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.
	114	)))
47.1	115	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-init.png"/}}\|(((
1.1	116	Initialize
	117
	118	Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
	119
	120	(((
	121
	122	)))
	123	)))
47.1	124	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-position.png"/}}\|(((
1.1	125	Position
	126
	127
	128	)))
47.1	129	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-speed.png"/}}\|(((
1.1	130	Speed
	131
	132	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.
	133	)))
47.1	134	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-force.png"/}}\|(((
1.1	135	Force
	136
	137	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.
	138	)))
47.1	139	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-gripper-open-close.png"/}}\|(((
1.1	140	Open / Close
	141
	142	These are shortcut buttons to either fully open or fully close the gripper.
	143	)))
	144	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	145	Sequencer
	146
	147	The sequencer displays the gripper position as joint G.
	148
	149	Ex: #GP1000
	150	This command would be open the Gripper to Position 100.0%
	151
	152	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.
	153	)))
	154	\| \|(% colspan="2" rowspan="1" %)(((
45.1	155	= 3D Model =
1.1	156	)))
	157	\| \|(% colspan="2" rowspan="1" %)(((
	158	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.
	159	)))
47.1	160	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-3d.png"/}}\|(((
1.1	161	View Controls
	162
	163	Zoom: Shift + Middle Scroll
	164
	165	Rotate: Shift + Middle Mouse
	166
	167	Pan: None
	168	)))
	169	\| \|(% colspan="2" rowspan="1" %)(((
45.1	170	= Manual Move =
1.1	171	)))
47.1	172	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-joints.png"/}}\|(((
1.1	173	Joints Control (angular)
	174
	175	In Joints mode, the user can control the angle of each joint.
	176
	177	* The field can be clicked and changed using a keyboard.
	178	* Using the + and - sings will move by the amount specified in the drop down menu.
	179	* The RESET button will send the arm to Zero on all joints
	180	)))
47.1	181	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates.png"/}}\|(((
1.1	182	Coordinates Control
	183
	184	In coordinate control the user can control the cartesian position of the end effector
	185	)))
47.1	186	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-arm-coordinates-lock.png"/}}\|(((
1.1	187	End Effector Lock
	188
	189	The orientation of the end effector can be locked with the "ENABLED" button.
	190	)))
	191	\| \|(% colspan="2" rowspan="1" %)(((
45.1	192	= Direct Command =
1.1	193	)))
	194	\| \|(% colspan="2" rowspan="1" %)(((
	195	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.
	196
	197	A few things to keep in mind when using this:
	198
	199	* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	200	* Sending commands does not require ‘#’ and ‘\r’ chars.
	201	** example for #2\r you should enter 2Q and press the "SEND" button
	202	* The commands are validated, and it shows a notification in case of error.
	203	* The replies of queries are shown in the text field below.
	204	)))
	205	\| \|(% colspan="2" rowspan="1" %)(((
45.1	206	= Telemetry =
1.1	207	)))
47.1	208	\| \|(% colspan="2" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry.png"/}}
	209	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry-drop.png"/}}\|(((
1.1	210	Data to Display
	211
	212	Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
	213
	214	* Position
	215	* Current
	216	* Linear Accel X
	217	* Linear Accel Y
	218	* Linear Accel Z
	219	* Angular Accel α
	220	* Angular Accel β
	221	* Angular Accel γ
	222	* MCU Temperature
	223	* PCB Temperature
	224	* Probe Temperature
	225	)))
47.1	226	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-telemetry-hide.png"/}}\|(((
1.1	227	Display / Hide
	228
	229	At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
	230	)))
	231	\| \|(% colspan="2" rowspan="1" %)(((
45.1	232	= Sequencer =
1.1	233	)))
33.2	234	\| \|(% colspan="2" rowspan="1" %)(((
	235	Sequence
	236
60.1	237	That's where you can create and edit the sequence you need to play in your particular project.
33.2	238	)))
47.1	239	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence.png"/}}\|(((
1.1	240	Sequence Selector
	241
58.1	242	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	243	)))
47.1	244	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-add.png"/}}\|(((
1.1	245	Add
	246
58.1	247	Create a new Sequence that will be automatically selected.
1.1	248	)))
47.1	249	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-remove.png"/}}\|(((
58.1	250	Subtract
1.1	251
58.1	252	Remove / Delete the currently selected Sequence.
1.1	253	)))
47.1	254	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-copy.png"/}}\|(((
1.1	255	Copy
	256
58.1	257	Create a copy of the currently selected Sequence and add a "- copy" to it's name.
1.1	258	)))
47.1	259	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-save.png"/}}\|(((
1.1	260	Save
	261
58.1	262	Saving the currently selected sequence for future use.
1.1	263	)))
47.1	264	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-open.png"/}}\|(((
1.1	265	Open
	266
58.1	267	Opening a previously saved sequence.
1.1	268	)))
47.1	269	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-sequence-delete.png"/}}\|(((
1.1	270	Delete
	271
58.2	272	Deleting the ALL sequence leaving an empty "Sequence 1"
1.1	273	)))
56.1	274	\| \|(% colspan="2" rowspan="1" %)(((
	275	Frames
	276
59.1	277	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	278	)))
47.1	279	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-add.png"/}}\|(((
1.1	280	Add
	281
59.1	282	Create a new frame / card in the selected sequence.
1.1	283	)))
47.1	284	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-sequence.png"/}}\|(((
1.1	285	Sequence Selector
	286
59.1	287	This button is to be removed in a future version, was there to select the sequence but ineffective at the moment.
1.1	288	)))
47.1	289	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-record.png"/}}\|(((
1.1	290	Record
	291
59.1	292	Store the current positions of each joints including the gripper in the selected frame / card.
1.1	293	)))
47.1	294	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-delete.png"/}}\|(((
43.1	295	Remove
1.1	296
59.1	297	Delete the currently selected frame / card.
1.1	298	)))
47.1	299	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-copy.png"/}}\|(((
1.1	300	Copy
	301
60.1	302	Copy all the positions from the selected frame / card.
1.1	303	)))
47.1	304	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-paste.png"/}}\|(((
1.1	305	Paste
	306
60.1	307	Paste all the position from the previously copied frame / card to the selected one.
1.1	308	)))
47.1	309	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-invert.png"/}}\|(((
43.1	310	Invert
1.1	311
60.1	312	Invert the frame / card so the First one become the Last and everything in between too.
1.1	313	)))
48.1	314	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame.png"/}}\|(((
	315	Frame
1.1	316
48.1	317	* Name: It's possible to change the name of the frame to better represent your sequence or application.
	318	* 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	319	)))
54.1	320	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-frame-drop.png"/}}\|(((
48.1	321	Frame Position
1.1	322
54.1	323	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	324	)))
48.1	325	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-start.png"/}}\|(((
	326	Starting Frame
1.1	327
60.1	328	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.
	329
	330	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	331	)))
48.1	332	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-loop.png"/}}\|(((
1.1	333	Loop
	334
60.1	335	The amount of time you want the particular sequence to play. If you click on the "Loop" test it will become Infinite.
1.1	336	)))
54.1	337	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-edit.png"/}}\|(((
1.1	338	Manual Edit
	339
60.1	340	Manually create or edit an already made frame / card in this window. Each joints and gripper can be modified that way.
1.1	341	)))
54.1	342	\| \|(% style="text-align:center; vertical-align:middle" %){{lightbox image="ses-pro-robotic-arm-ui-sequencer-zoom.png"/}}\|(((
1.1	343	Zoom
	344
60.1	345	Allow you to zoom In or Out making the time resolution change. Something nice when dealing with long sequences.
1.1	346	)))
62.1	347	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	348	Play from Start
	349
	350	Start the sequence selected at the beginning.
	351	)))
	352	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	353	Play / Pause
	354
	355	Start the sequence selected at the beginning and change in a Pause icon once started. Once ready the user can press play again to resume the sequence.
	356	)))
	357	\| \|(% style="text-align:center; vertical-align:middle" %) \|(((
	358	Stop
	359
	360	Stop the sequence & hold position.
	361	)))

Wiki source code of SES-PRO Robotic Arm UI Guide

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