Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39

From version < 168.1 >

edited by Eric Nantel
on 2020/09/15 12:17

To version < 147.1 >

edited by Coleman Benson
on 2020/08/31 12:53

< >

Change comment: There is no comment for this version

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--xwiki:XWiki.ENantel
++xwiki:XWiki.CBenson

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  = Description =
--The LSS FlowArm application is intended to allow easy control of the standard Lynxmotion Servo Erector Set (SES) V2 robotic arms. Either the four degree of freedom (4DoF) or three degree of freedom (3DoF) arm is selected and the graphical interface shows multiple views of the arm which can be controlled via drag and drop, as well as by manually inputting coordinates. The full-featured built-in sequencer allows you create sequences which moves the arm automatically from one position ("frame") to the next. Make use of the "teach mode" to position the arm where you want and record frames which can be modified and played back. Associating each pattern with input keys means you can easily play back and test multiple sequences.
++The LSS FlowArm application is intended to allow easy control of the standard Lynxmotion Servo Erector Set (S.E.S.) v2 articulated robotic arm. The graphical interface shows multiple views of the arm which can be controlled via drag and drop, as well as by manually inputting coordinates. The full-featured built-in sequencer allows you create sequences which have the arm move automatically from one position ("frame") to the next. Make use of the "teach mode" to position the arm where you want and record frames which can be modified and played back. Associating each pattern with input keys means you can easily play back and test multiple sequences.
  FlowBotics Studio was used to create this app and includes hundreds of built-in components that allow you to interface your PC to many standard computer peripherals and robotics components, and you can quickly design new components for new hardware. Easily create new projects with custom GUI screens, knobs, buttons, switches, etc. that will run live from within FlowBotics Studio without needing to wait for compilation, or export as stand-alone executable files. FlowBotics Studio includes a powerful graphics engine that allows you to make custom graphical objects by using standard bitmaps or by drawing your own shapes on the screen. Using this system, you can build entirely custom interfaces like this one for your projects and integrate photographs, drawings, and graphs.
  = Features =
--* Graphical interface for the Lynxmotion SES V2 3DoF and 4DoF robot arms
++* Graphical interface for the Lynxmotion SES V2 articulated robot arm
  * Full featured sequencer allows recording and playback of many sequences via keyboard input
  * Teach mode allows the user to move the arm and have the virtual arm follow
  * Position the arm using rectangular or cylindrical coordinates, virtual joysticks or mouse drag
  * Application can be modified via FlowBotics Studio
  * Optional data log shows what commands are sent and received and can be saved as a .csv file.
--* LSS FlowArm is intended only for the Windows 7 operating system or higher.
++* LSS FlowArm is intended only for Windows operating systems 7 or higher.
  = Initial Setup =
--In order to understand the features, functionality and nuances of the Lynxmotion smart servos, it is suggested to read through the [[doc:lynxmotion-smart-servo.WebHome]] section of the wiki. Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
++In order to understand the features, functionality and nuances of the Lynxmotion smart servos, it is suggested to read through the [[doc:lynxmotion-smart-servo.WebHome]] section of the wiki.
--(% style="width:700px" %)
--|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
--|{{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"/}}
--| |Gripper servo ID already assigned via LSS-2IO
++Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
++{{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"/}}
++
  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]]
  * Servo ID is correctly assigned to each servo and there are no duplicate IDs
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 . Connect the power to the LSS Adapter via the yellow XT60 plug
 . Power on the robot (On/Off switch)
 . Start the LSS FlowArm software
--1. Select the type of LSS Arm you are using (3 DoF / 4 DoF)
--1. Select the appropriate COM port from the drop-down list & the baud rate (115200)
++1. Select the appropriate COM port from the drop-down list & the baudrate (115200)
 . The software sends a query to servo ID1 and once a reply is received, it determines connection has been established.
  == Connecting via Bluetooth ==
--If you have purchased a Bluetooth module which is in XBee format, ensure to have the right baud rate on your bluetooth adapter, the default is 115 200 for the LSS.
++If you have purchased a Bluetooth module which is in XBee format, ensure to have the right baudrate on your bluetooth adapter, the default is 115 200 for the LSS.
  = Interface =
--[[image:lss-flowarm-size.jpg]]
++Following are informations regarding the user interface of LSS FlowArm.
--A the top right of the window, there are three dark rectangles allowing you to change the application's window size.
--
  == Header ==
  [[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
--=== ARM TYPE ===
++=== Emergency stop ===
--This drop-down allows you to select either the 3DoF or 4DoF robotic arm. The 3DoF is selected by default.
++At any given time you can click this button to stop the arm. This will send a "LIMP" command directly to all servos.
--=== STORE OFFSETS ===
++=== Store offsets (calibration) ===
--The "STORE OFFSETS" button configures all of the servo offsets (this makes use of the 'CO' command as part of the [[LSS Communication Protocol>>doc:lynxmotion-smart-servo.lss-communication-protocol.WebHome]]). Before pressing the button, orient the arm as shown below (with the gripper closed), and only then click the STORE OFFSETS button. This setup only need to be done once when first setting up the arm.
++The "STORE OFFSETS" button configures all of the servo offsets (this makes use of the CO command as part of the [[LSS Communication Protocol>>doc:lynxmotion-smart-servo.lss-communication-protocol.WebHome]]). Before pressing the button, orient the arm as shown below (with the gripper closed), and only then click the STORE OFFSETS button. This setup only need to be done once when first setting up the arm.
  * Base servo aligned with the x axis
  * Shoulder to elbow along z axis (straight up)
@@ -79,35
          +79,31 @@
  * Wrist servo along R axis (parallel to elbow to wrist)
  * Gripper servo closed
--|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**4 DoF**|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**3 DoF **
--|(% 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"]]
++(% style="width:700px" %)
++|(% 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"]]
--=== LIMP ===
++=== Limp ===
--Causes all servos to slowly go LIMP (i.e. lose torque), gradually loosing torque until hitting the ground. It's important to note that the software will not constantly query all servos for their position, and as such the virtual arm on screen will not update frequently, if at all. If you want the virtual arm on screen to update as you move the real arm, use TEACH mode described below.
++Causes all servos to slowly go LIMP (i.e. lose torque), gradually loosing torque until hitting the ground. It's important to note that the software will not constantly query all servos for their position, and as such the virtual arm on screen will not update frequently if at all. If you want the virtual arm on screen to update as you move the real arm, use TEACH mode described below.
--=== HALT & HOLD ===
++=== Halt & hold ===
  Causes all servos to immediately stop their motion and hold their position.
--=== TEACH ===
++=== Teach ===
  Teach mode allows a user to physically move the arm and have the virtual arm on screen follow. This is used primarily to manually add frames to sequences, determine the optimal closed position for the gripper etc. In order to ensure the arm does not collapse, pressing the TEACH button will start a 5 second countdown during which the arm will slowly lose torque (angular force) until all servos are limp. When in teach mode, an orange outline appears over all on-screen fields which would cause a conflict and therefore cannot be used.
--CAREFUL: Do not move the servos or the arm too quickly. We suggest holding the gripper servo to move the arm. In the case of the 4DoF arm, temporarily remove the arm's aesthetic plastic shell.
++CAREFUL: Do not move the servos or the arm too quickly. We suggest holding the gripper servo to move the arm, or temporarily removing the arm's aesthetic shell.
  Once the arm is limp, it can be moved physically, and the application will regularly send position query commands to all of the servos and update the virtual arm on screen to match the servo's responses. Use the sequencer to record each position (frame) while in teach mode. For more information on the sequencer, refer to the sequencer section below.
--=== EMERGENCY STOP ===
++=== Grid / units ===
--At any given time you can click this button to stop the arm. This will send a "LIMP" command directly to all servos.
++Grid spacing can be toggled between Metric or Imperial. Options include 2cm, 3cm, 5cm and 1in, 2in and 3in.
--=== GRID ===
++=== Baud ===
--Grid spacing can be toggled between Metric (centimeters) or Imperial (inches). Options include 2cm, 3cm, 5cm and 1in, 2in and 3in.
--
--=== BAUD ===
--
  The default (and suggested) baud rate is 115200, which is the baud rate at which the servos are shipped. Should a user have changed the baud rate on the servos, it can be selected using the drop down. Note that the baud rate must be configured to the same value for all servos in order to work.
  === COM ===
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          +118,28 @@
  * If the red light is solid, then no correct COM port has been located.
  * If the green light is solid, the a COM port has been located.
--(% class="wikigeneratedid" %)
--= VIEWS =
++=== Window size ===
++[[image:lss-flowarm-size.jpg]]
++
++A the top right of the window, there are three dark rectangles allowing you to change the application's window size.
++
++== Simulator ==
++
++(% class="wikigeneratedid" id="HArmConfiguration" %)
++The arm shown on screen is based on the assembly guide. The aesthetics of the arms will be changing for the next release version of the LSS Flowarm software.
++
  === Side view ===
  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.
--Keyboard shortcuts in the side view include (W, A, S, D):
++Keyboard shortcuts: (W, A, S, D)
--**W**, **S**: Up & down
++W, S: Up & down
--**A**, **D**: Left & right (closer / farther from base)
++A, D: Left & right (closer / farther from base)
--(% style="width:700px" %)
--|(% style="text-align:center" %)**4 DoF**|(% style="text-align:center" %)**3 DoF**
--|(% 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"]]
++[[image:lss-flowarm-left.png||width="300"]]
  === Top view ===
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          +145,13 @@
  ◄►: Along X
--(% style="width:700px" %)
--|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
--|(% 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"]]
++[[image:lss-flowarm-top.png||width="300"]]
  == Shortcuts ==
  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
--**Wrist Tilt**: You can tilt the hand by right-clicking and dragging the mouse up and down.
++**Wrist Tilt**: You can tilt the hand by right-clicking and fragging the mouse up and down.
  **Gripper:** By holding the CTRL key whilst right-clicking and dragging you can open and close the gripper
@@ -169,23
          +169,22 @@
  === Gripper ===
--Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. Because the 4DoF uses a smart servo, it includes the 'CH' modifier command which causes the servo to stop when it detects a specific current. This allows the user to send a "close" command and the servo will automatically stop when a specific force is applied to the object. The 3DoF uses an RC servo which does not have this feature, so be sure to set the appropriate position when grasping an object.
++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.
--(% style="width:700px" %)
--|(% style="text-align:center" %)**4 DoF**|(% style="text-align:center" %)**3 DoF **
--|(% 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"]]
++[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
  === Wrist ===
--The wrist angle can be locked or unlocked. The input field on the 4 DoF allows for decimal input (click the numbers) or fine adjustments using the arrows. The 3DoF does not have wrist articulation, but since the bracket can be installed horizontally or vertically, clicking this will change the orientation of the gripper.
++The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
--|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**4 DoF**|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**3 DoF**
--|(% 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"]]
++[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
--=== End Effector Position ===
++=== End effector position ===
--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. When in keyboard mode, there is an overlay indicating which keys do what motion.
++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.
++When in keyboard mode, there is an overlay indicating which keys do what motion.
++
  [[image:lss-flowarm-positioning.png||alt="lss-flowarm-positioning.jpg"]]
  == Data Log ==
@@ -216,13
          +216,13 @@
  === Sequences ===
--The sequencer allows you to make your robot move over time by transitioning from one position to another. Each transition is called a "frame" and a sequence of frames is called a "sequence". You can create and save as many sequences as you like. Sequences can be played back manually or using the keyboard inputs mentioned below.
++The sequencer allows you to make your robot move over time by transitioning from one position to another. Each transition we call a frame and a sequence of frames we call a sequence. You can create as many sequences as you like. You can play sequences back manually or using the keyboard inputs mentioned below. This section describes the sequence management functions of the Sequencer.
  === Sequence List ===
  [[image:lss-flowarm-pattern-list.jpg]]
--If you click on the drop-down arrow on the right-hand you'll see a list of available sequences that have been created. Selecting one opens that sequence. You can also scroll through the list one-by-one using the up and down arrow buttons. Clicking on the name of a sequence to change it by typing in the box then pressing the Enter / Return key or clicking away.
++The sequence list is the first control on the sequencer. If you click on the arrow on the right-hand edge you'll see a list of the sequences that have been created and by selecting one you can move to that sequence. You can also scroll through the list one-by-one using the up and down arrow buttons. Clicking on the name of a sequence will allow you to change this. Simply type in the box then press the Return key or click away.
  == Sequence Management ==
@@ -230,48
          +230,51 @@
  === Add a Sequence ===
--To add a sequence click the plus (+) button. A new sequence will appear in the list and its name will open for editing.
++To add a sequence click the add button. A new sequence will appear in the list and its name will open for editing.
  === Remove a Sequence ===
--Click the remove sequence button (-) to delete the currently selected sequence from the list. This action is irreversible so you will be asked for confirmation.
++Click the remove sequence button to delete the currently selected sequence from the list. This action is irreversible so you will be asked for confirmation.
  === Duplicate a Sequence ===
--If you want to make a new sequence based on an existing one then you can duplicate it using the icon with superimposed squares.
++If you want to make a new sequence based on an existing one then you can duplicate it.
  === Saving Sequences ===
  IMPORTANT: If you want to keep any sequences you create then you must export them otherwise they will be lost when you return to the project browser.
--To save a sequence click the export button (Save icon). You can choose whether to export all sequences or just the one currently selected. Sequences are saved to files so you'll need to pick a filename and folder to save to. If a sequence uses sub-sequences these will be saved even if you choose only to save the selected sequence.
++To do this click the export button. You can choose whether to export all your sequences or just the currently selected one. Sequences are saved to files so you'll need to pick a filename and folder to save to. If a sequence uses sub sequences these will be saved even if you choose only to save the selected sequence.
  === Loading Sequences ===
--If you have saved sequences that you want to restore then click the Import button (open folder icon). You will be asked to choose a previously saved sequence file. The sequences in the file will be added to the list. They do not replace the sequence list. Also it doesn't matter how many sequences the file contains, all of them will be imported.
++If you have saved sequences that you want to restore then click the Import button. You will be asked to choose a previously saved sequence file.
++The sequences in the file will be added to the list. They do not replace the sequence list. Also it doesn't
++matter how many sequences the file contains, all of them will be imported.
  === Clear All Sequences ===
--If you want to start from scratch you can clear all the sequences from the list using the clear all button (multiple squares and X).
++If you want to start from scratch you can clear all the sequences from the list using the clear all button.
  == Frames ==
  [[image:lss-flowarm-frame.jpg]]
--Knowing how to manage sequences will now allow you to create one. As indicated earlier a sequence is made up of frames. A frame represents a transition between robot states over time. In addition to frames, you can also add other sequences to a sequence. This allows quite complex series of movements to be built up very quickly and easily.
++We now know how to manage sequences now lets see how you build one. As we said earlier a sequence is made up of frames. A frame represents a transition between robot states over time.
++In addition to frames, you can also add other sequences to a sequence. This allows quite complex series of movements to be built up very quickly and easily.
  [[image:lss-flowarm-frames.jpg]]
  === Adding Frames ===
--To add a frame click the Add (+) button. A new frame will be added at the end of the sequence. The duration of the frame will be whatever the last frame duration was. The frame will record whatever position the robot is currently set to. You can add a sub sequence to the sequence by clicking the arrow to the right of the Add button. A drop list of the available sequences will appear. Select one and it will be added to the end of the sequence.
++To add a frame click the Add button. A new frame will be added at the end of the sequence. The duration of the frame will be whatever the last frame duration was. The frame will record whatever position the robot is currently set to. You can add a sub sequence to the sequence by clicking the arrow to the right of the Add button. A drop list of the available sequences will appear. Select one and it will be added to the end of the sequence.
  === Recording to a Frame ===
--When you add a frame it will record the state that the robot is currently in. If you want to change this state first select the frame by clicking on it. Next move the robot to the position you want to record. When you're happy press the record button (circle with red dot). The frame will flash to indicate that it has been updated.
++When you add a frame it will record the state that the robot is currently in. If you want to change this state first select the frame by clicking on it. Next move the robot to the position you want to record. When you're happy press the record button. The frame will flash to indicate that it has been updated.
  === Deleting Frames ===
--To delete a sequence or frame from a sequence, click the Delete button (X).
++To delete a sequence or frame from a sequence, click the Delete button.
  === Naming Frames ===
@@ -279,7
          +279,7 @@
  === Timeline Locking ===
--[[image:lss-flowarm-lock.jpg||height="20" width="21"]]
++[[image:lss-flowarm-lock.jpg]]
  The timeline is locked by default. This means that frames will automatically run from one to the next – you cannot create space in between. Moving a frame past another one will move it along the order in the timeline. If the timeline is unlocked then you can move frames independently of each other and also create gaps of time in between.
@@ -342,7
          +342,7 @@
  [[image:lss-flowarm-decision-frame.jpg]]
--At the end of every sequence there is a permanent frame called the "decision frame" (it is orange for easy identification). Click on the top part (orange) to change the last action of the sequence. There are 3 options:
++At the end of every sequence there is a permanent frame called the decision frame (it is orange for easy identification). Click on the top part (orange) to change the last action of the sequence. There are 3 options:
  * STOP: once the sequence is completed, nothing else will happen
  * LOOP: once the sequence is completed, it will repeat a set amount of time
@@ -353,16
          +353,16 @@
  = Notifications =
  (% style="width:1037px" %)
--|(% style="text-align:center; width:450px" %)**Displayed Error**|(% style="text-align:center; width:100px" %)**LED Status**|(% style="text-align:center" %)**Information**
++|(% style="text-align:center; width:450px" %)**Displayed Error**|(% style="text-align:center; width:100px" %)**LED Status**|(% style="text-align:center" %)**Informations**
  |{{lightbox image="lss-flowarm-notification-limp.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
  [[image:LSS-UserColor.png||alt="LSS-Error-SafeMode.gif"]]
  User Defined
--)))|User clicked on the "LIMP" button or FlowArm noticed an error and put the arm "LIMP" by itself.
++)))|User clicked on the "LIMP" button or FlowArm noticed an error and put the arm in "LIMP" by himself.
  |{{lightbox image="lss-flowarm-notification-firmware.png"/}}|(((
--Old firmware version which is not compatible (SERVO 1 in this example).
++FlowArm noticed an earlier firmware version which is not compatible (SERVO 1 in this example).
--* Use the LSS-Config software to update the servo's firmware
++* As suggested, use the LSS-Config software to update the servo(s)
  )))
  |{{lightbox image="lss-flowarm-notification-current.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
  [[image:LSS-Error-SafeMode.gif]]
@@ -369,13
          +369,13 @@
  Red Flashing
  )))|(((
--Over-current error on the specified servo (SERVO 4 in this example)
++FlowArm noticed a high current error on the specified servo (SERVO 4 in this example)
  * Verify that noting is in the way of the servo that can block it's movement.
  * Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
  )))
  |{{lightbox image="lss-flowarm-notification-temperature.png"/}}|(((
--Over-temperature error on the specified servo (SERVO 5 in this example).
++FlowArm noticed a high temperature error on the specified servo (SERVO 5 in this example).
  * Let it cool down for a minute.
  * Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.

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Changes for page FlowArm LSS

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