Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 21.1 >
edited by Coleman Benson
on 2019/09/09 09:13
To version < 42.1 >
edited by Coleman Benson
on 2019/09/09 13:41
< >
Change comment: Uploaded new attachment "lss-flowarm-loop.jpg", version {1}

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1 1  [[image:LSS-FlowArm.png||width="350"]]
2 2  
3 +[[image:wiki-download.png]]
4 +
3 3  **Page Contents**
4 4  
5 5  {{toc/}}
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8 8  
9 9  {Coming soon}
10 10  
13 +The LSS FlowArm application was created using FlowBotics Studio software and is intended to allow easy control of the standard configuration Lynxmotion Servo Erector Set (S.E.S.) v2 articulated robotic arm. The graphical interface shows a side and top view of the arm, as well as the gripper and wrist. The full-featured built-in sequencer allows you create sequences which have the arm move automatically from one position ("frame") to the next.
14 +
11 11  = Features =
12 12  
13 -​​​​​​​{Coming soon}
17 +* Graphical interface for the Lynxmotion SES V2 articulated robot arm
18 +* Full featured sequencer allows recording and playback of many sequences via keyboard input
19 +* Teach mode allows the user to move the arm and have the virtual arm follow
20 +* Position the arm using rectangular or cylindrical coordinates, virtual joysticks or mouse drag
21 +* Application can be modified via FlowBotics Studio
14 14  
15 15  = Initial Setup =
16 16  
17 -= Servo IDs =
25 +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.
18 18  
19 -Before using / connecting the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
27 +Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
20 20  
21 21  * Base: 1
22 22  * Shoulder: 2
23 23  * Elbow: 3
24 24  * Wrist: 4
25 -* Wrist rotate (optional): {Not connected}
26 26  * Gripper: 5
27 27  
35 +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]]
36 +
37 +Important note: The software does not take into consideration if a servo has been improperly assembled. If you see that your arm moves differently than the arm on screen, be sure to check the following:
38 +
39 +* Servo ID is correctly assigned to each servo and there are no duplicate IDs
40 +* Servos have been assembled in correct orientation (as per assembly manual)
41 +* Servo offsets have been updated if necessary (see procedure below).
42 +
28 28  = Interface =
29 29  
30 30  == Header ==
31 31  
32 -**Information {Not implemented}**
47 +[[image:lss-flowarm-header.jpg]]
33 33  
34 -The circular button with "i" in the middle is used to overlay useful information
49 +**STORE OFFSETS**
35 35  
36 -**Teach**
51 +During the assembly process, if the servo's driving output horn was not rotated (they are shipped with the servo driving horn centered at 0 degrees), and was connected to the brackets at the correct angle (parallel or perpendicular depending on the servo being assembled), there should not be any significant servo offset needed and the arm should match what is displayed on screen. However, should the driving horn have rotated and/or the brackets were not connected at optimal angles, the "STORE OFFSETS" button configures the 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, be sure to orient the arm as follows (with the base a, and THEN click the STORE OFFSETS button.
37 37  
38 -The "Teach" button allows offsets to be stored and uploaded. Press the "Teach" button once, then move the arm physically to the same position as what is shown on screen. Press the "Store offsets" button to change the offsets.
53 +[[image:lss-flowarm-offsets.jpg]]
39 39  
40 -**Units**
55 +**LIMP**
41 41  
57 +Causes all servos to go LIMP (i.e. lose torque). The arm will collapse.
58 +
59 +**STOP**
60 +
61 +Causes all servos to stop their motion and hold their position.
62 +
63 +**TEACH**
64 +
65 +Teach mode allows a user to physically move the arm to a designed location
66 +
67 +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.
68 +
69 +When in teach mode, an orange outline appears over all on-screen fields which would cause a conflict and therefore cannot be used.
70 +
71 +CAREFUL: Do not move the servos too quickly. We suggest moving the gripper servo, or temporarily removing the aesthetic shell.
72 +
73 +Once the arm is limp, it can be moved physically, and the application will regularly read the physical position of each of the servos and move the virtual arm on screen to match.
74 +
75 +Use the sequencer to save each position (frame). Intermediate frames can be added as needed. For more information on the sequencer, refer to the sequencer section below.
76 +
77 +
78 +**GRID / Units**
79 +
42 42  Units can be toggled between Metric or Imperial
43 43  
44 -**Baud**
82 +**BAUD**
45 45  
46 -The baud rate suggested is 9600, though other (standard) baud rates can be used.
84 +The baud rate suggested is 115200, which is the default baud rate of the servos. Should a user have changed the baud rate on the servos, it can be selcted using the drop down. Note that the baud rate must be configured to the same value for all servos in order to work.
47 47  
48 48  **COM**
49 49  
50 -Be sure to select the appropriate COM port to which the LSS adapter is connected.
88 +This field selects which of your computer's COM ports is connected to the LSS Adapter, which is provided with the standard SES v2 articulated robot arm. Be sure to select the appropriate COM port to which the LSS adapter is connected. If you are unsure, go to Device Manager in Windows, and view the list of USB devices connected. The LSS Adapter uses an FTDI USB to serial chip.
51 51  
90 +When the software is opened, a scan of all COM ports is done automatically and list of all available COM ports will be found in the drop down menu, along with OFF (stop searching for a COM port), and AUTO (the application tries to automatically find the correct COM port by sending a query command at the corresponding BAUD rate).
91 +
92 +If the red and green lights next to the field are flashing, the correct COM port has not yet been found, and the user may need to manually select the correct CIM port.
93 +
94 +If the red light is solid, then no correct COM port has been located.
95 +
96 +If the green light is solid, the a COM port has been located.
97 +
52 52  **Window Size**
53 53  
54 -A the top right, there are three dark rectangles representing the window size.
100 +**[[image:lss-flowarm-size.jpg]]**
55 55  
102 +A the top right of the window, there are three dark rectangles representing the window size.
103 +
56 56  == 2D Views & Grid ==
57 57  
58 58  == Arm Configuration ==
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61 61  
62 62  The aesthetics of the arms will be changing for the final / release version of the LSS Flowarm software.
63 63  
64 -**Left View**
112 +**Side View**
65 65  
114 +[[image:lss-flowarm-side-view.jpg]]
115 +
66 66  The left view is a representation {more to come|
67 67  
68 68  **Top View**
69 69  
120 +**[[image:lss-flowarm-top-view.jpg]]**
121 +
70 70  The top view shows the arm {more to come}
71 71  
72 72  == Left Menu ==
73 73  
74 -**Gripper & Wrist**
126 +**Gripper**
75 75  
128 +[[image:lss-flowarm-gripper-view.jpg]]
129 +
76 76  The gripper and wrist rotate can be controlled from this menu
77 77  
132 +**Wrist**
133 +
134 +[[image:lss-flowarm-wrist-view.jpg]]
135 +
78 78  **End Effector Position**
79 79  
138 +[[image:lss-flowarm-positioning.jpg]]
139 +
80 80  The position of the end effector can be controlled either by manually entering the information for R (radius), or x,y,z coordinate, or using the arrows.
81 81  
82 -**IO Information {Not implemented}**
142 +Data Log
83 83  
84 -This section will be used to display sensor data from the LSS IO interface board
144 +[[image:lss-flowarm-data-log.jpg]]
85 85  
86 -**Console {Not implemented}**
87 -
88 88  The console will be used as a serial command interface to manually send commands to the bus.
89 89  
90 90  == Sequencer ==
91 91  
92 -The sequencer allows the user to record sequences.
150 +[[image:lss-flowarm-sequencer.jpg]]
93 93  
152 +The sequencer allows the user to record sequences. From left to right:
153 +
154 +Sequence association
155 +
94 94  {Work in progress}
95 95  
158 +[[image:lss-flowarm-keyboard-liveupdate.jpg]]
159 +
96 96  = Downloads =
97 97  
98 98  Download LSS Flowarm 3.0.8.12 [[here>>http://www.lynxmotion.com/tools/LSS%20FlowArm%20BETA%20(3.0.8.12).rar]].
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