Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 141.1 >
edited by RB1
on 2020/01/03 10:35
To version < 166.1 >
edited by Eric Nantel
on 2020/09/10 09:27
< >
Change comment: Upload new image "lss-flowarm-header.png", version 1.2

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1 -xwiki:XWiki.RB1
1 +xwiki:XWiki.ENantel
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3 3  [[[[image:[email protected]]]>>https://www.robotshop.com/en/lss-flowarm-app-download.html||rel="noopener noreferrer" target="_blank"]]
4 4  
5 5  **Page Contents**
6 +
6 6  {{toc depth="2"/}}
7 7  
8 8  = Description =
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27 27  
28 28  Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
29 29  
30 -{{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"/}}
31 31  
32 32  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]]
33 33  
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45 45  1. Connect the power to the LSS Adapter via the yellow XT60 plug
46 46  1. Power on the robot (On/Off switch)
47 47  1. Start the LSS FlowArm software
51 +1. Select the type of LSS Arm you are using (3 DoF / 4 DoF)
48 48  1. Select the appropriate COM port from the drop-down list & the baudrate (115200)
49 49  1. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established.
50 50  
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74 74  * Wrist servo along R axis (parallel to elbow to wrist)
75 75  * Gripper servo closed
76 76  
77 -(% style="width:700px" %)
78 -|(% 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"]]
81 +|(% 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 **
82 +|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left-3dof.png||alt="lss-flowarm-left-3dof.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-left-3dof.png" width="200"]]
79 79  
80 80  === Limp ===
81 81  
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124 124  
125 125  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.
126 126  
127 -[[image:lss-flowarm-left.png||width="300"]]
131 +Keyboard shortcuts: (W, A, S, D)
128 128  
133 +W, S: Up & down
134 +
135 +A, D: Left & right (closer / farther from base)
136 +
137 +(% style="width:700px" %)
138 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
139 +|(% 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"]]
140 +
129 129  === Top view ===
130 130  
131 131  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.
132 132  
133 -[[image:lss-flowarm-top.png||width="300"]]
145 +Keyboard Shortcuts: Arrow keys (▲▼◄►)
134 134  
147 +▲▼: Along Y
148 +
149 +◄►: Along X
150 +
151 +(% style="width:700px" %)
152 +|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
153 +|(% 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"]]
154 +
135 135  == Shortcuts ==
136 136  
137 137  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
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154 154  
155 155  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.
156 156  
157 -[[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"]]
158 158  
159 159  === Wrist ===
160 160  
161 161  The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
162 162  
163 -[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
185 +|(% 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 **
186 +|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-angle-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-angle-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]]
164 164  
165 165  === End effector position ===
166 166  
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337 337  
338 338  = Notifications =
339 339  
340 -(% style="width:1300px" %)
363 +(% style="width:1037px" %)
341 341  |(% style="text-align:center; width:450px" %)**Displayed Error**|(% style="text-align:center; width:100px" %)**LED Status**|(% style="text-align:center" %)**Informations**
342 342  |{{lightbox image="lss-flowarm-notification-limp.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
343 343  [[image:LSS-UserColor.png||alt="LSS-Error-SafeMode.gif"]]
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