Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 140.1 >
edited by RB1
on 2020/01/03 10:35
To version < 160.1 >
edited by Eric Nantel
on 2020/09/10 09:09
< >
Change comment: There is no comment for this version

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4 4  
5 5  **Page Contents**
6 6  
7 -{{showhide showmessage="Show..." hidemessage="Hide"}}
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9 - {{toc depth="2"/}}
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12 12  
13 13  = Description =
14 14  
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32 32  
33 33  Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
34 34  
35 -{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-articulated-arm/lss-articulated-arm-servo-setup/WebHome/SESV2-LSS-ARTICULATED-ARM-IDS.PNG" width="350"/}}
31 +(% style="width:700px" %)
32 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
33 +|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-4dof-arm/4dof-arm-quickstart/4dof-servo-setup/WebHome/SESV2-LSS-ARTICULATED-ARM-IDS.PNG" width="350"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-3-dof-arm/3dof-arm-quickstart/3dof-servo-setup/WebHome/LSS-3DOF-IDS.PNG?=" width="350"/}}
36 36  
37 37  To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Follow the procedure outlined here: [[doc:lynxmotion-smart-servo.lss-configuration-software.lss-config-configure-ids.WebHome]]
38 38  
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79 79  * Wrist servo along R axis (parallel to elbow to wrist)
80 80  * Gripper servo closed
81 81  
82 -(% style="width:700px" %)
83 -|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" height="300" width="300"]]
80 +|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 4 DoF Arm **|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 3 DoF Arm **
81 +|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left-3dof.png||alt="lss-flowarm-left-3dof.png" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-left-3dof.png" height="300" width="300"]]
84 84  
85 85  === Limp ===
86 86  
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129 129  
130 130  The left view is a representation of the arm, where the orange circles represent the location of each axis of rotation. You can move the arm in this view by clicking on and dragging anywhere in that side view screen.
131 131  
132 -[[image:lss-flowarm-left.png||width="300"]]
130 +Keyboard shortcuts: (W, A, S, D)
133 133  
132 +W, S: Up & down
133 +
134 +A, D: Left & right (closer / farther from base)
135 +
136 +(% style="width:700px" %)
137 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
138 +|(% style="text-align:center" %)[[image:lss-flowarm-left.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-left-3dof.png||alt="lss-flowarm-left.png" width="300"]]
139 +
134 134  === Top view ===
135 135  
136 136  The top view shows the arm top down. You can move the arm within this view by clicking on and dragging the dot right next to the gripper.
137 137  
138 -[[image:lss-flowarm-top.png||width="300"]]
144 +Keyboard Shortcuts: Arrow keys (▲▼◄►)
139 139  
146 +▲▼: Along Y
147 +
148 +◄►: Along X
149 +
150 +(% style="width:700px" %)
151 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
152 +|(% style="text-align:center" %)[[image:lss-flowarm-top.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-top.png" width="300"]]
153 +
154 +
140 140  == Shortcuts ==
141 141  
142 142  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
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159 159  
160 160  Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. We added a feature where the servo stop when it feel a current raising, this allows the user to ask for a full close and have a good grip on the item picked.
161 161  
162 -[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
177 +(% style="width:700px" %)
178 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
179 +|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view-3dof.png||alt="lss-flowarm-gripper-view.jpg"]]
163 163  
181 +
164 164  === Wrist ===
165 165  
166 166  The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
167 167  
168 -[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
186 +(% style="width:700px" %)
187 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
188 +|(% style="text-align:center" %)[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center" %)[[image:lss-flowarm-wrist-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]]
169 169  
190 +
170 170  === End effector position ===
171 171  
172 172  The position of the end effector can be controlled either by manually entering the information for R (radius), or the Cartesian x, y, z coordinates, or using the arrows.
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342 342  
343 343  = Notifications =
344 344  
345 -(% style="width:1300px" %)
366 +(% style="width:1037px" %)
346 346  |(% style="text-align:center; width:450px" %)**Displayed Error**|(% style="text-align:center; width:100px" %)**LED Status**|(% style="text-align:center" %)**Informations**
347 347  |{{lightbox image="lss-flowarm-notification-limp.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
348 348  [[image:LSS-UserColor.png||alt="LSS-Error-SafeMode.gif"]]
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