Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 30.1 >
edited by Coleman Benson
on 2019/09/09 09:58
To version < 12.4 >
edited by Eric Nantel
on 2019/01/11 13:22
< >
Change comment: Update document after refactoring.

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1 -servo-erector-set-system.ses-software.WebHome
1 +Servo Erector Set (SES) Building System.SES - Software.WebHome
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1 -[[image:LSS-FlowArm.png||width="350"]]
1 +Download LSS Flowarm 3.0.8.12 [[here>>http://www.lynxmotion.com/tools/LSS%20FlowArm%20BETA%20(3.0.8.12).rar]].
2 2  
3 -[[[[image:wiki-download.png]]>>https://www.robotshop.com/en/lynxmotion-smart-servo-lss-configuration-software.html||rel="noopener noreferrer" target="_blank"]]
3 +Password: beta
4 4  
5 -**Page Contents**
5 +BETA: Note that information described here is subject to change, and is available for BETA testers.
6 6  
7 -{{toc/}}
7 +{Work in progress}
8 8  
9 -= Description =
9 +[[image:LSS-flowarm-30812.jpg]]
10 10  
11 -{Coming soon}
11 +**Servo IDs**
12 12  
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.
13 +Before using / connecting the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
14 14  
15 -= Features =
16 -
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
22 -
23 -= Initial Setup =
24 -
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.
26 -
27 -= Servo IDs =
28 -
29 -Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
30 -
31 31  * Base: 1
32 32  * Shoulder: 2
33 33  * Elbow: 3
34 34  * Wrist: 4
19 +* Wrist rotate (optional): {Not connected}
35 35  * Gripper: 5
36 36  
37 -To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Connect each servo to the LSS Adapter, ensuring the wall adapter and USB cable are connected, and the three-way switch is set to USB. Using the softwar
22 += Header =
38 38  
39 -= Interface =
24 +**Information {Not implemented}**
40 40  
41 -== Header ==
26 +The circular button with "i" in the middle is used to overlay useful information
42 42  
43 -[[image:lss-flowarm-header.jpg]]
28 +**Gear ratio**
44 44  
45 -**STORE OFFSETS**
30 +The gear ratio toggle (per servo) is implemented for BETA testers only.
46 46  
47 -Press the "Store offsets" button to change 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]]).
32 +**Teach**
48 48  
49 -**LIMP**
34 +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.
50 50  
51 -Causes all servos to go LIMP (i.e. lose torque). The arm will collapse.
36 +**Units**
52 52  
53 -**STOP**
54 -
55 -Causes all servos to stop their motion and hold their position.
56 -
57 -**TEACH**
58 -
59 -Teach mode allows a user to physically move the arm to a designed location
60 -
61 -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.
62 -
63 -When in teach mode, an orange outline appears over all on-screen fields which would cause a conflict and therefore cannot be used.
64 -
65 -CAREFUL: Do not move the servos too quickly. We suggest moving the gripper servo, or temporarily removing the aesthetic shell.
66 -
67 -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.
68 -
69 -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.
70 -
71 -
72 -**GRID / Units**
73 -
74 74  Units can be toggled between Metric or Imperial
75 75  
76 -**BAUD**
40 +**Baud**
77 77  
78 78  The baud rate suggested is 9600, though other (standard) baud rates can be used.
79 79  
80 80  **COM**
81 81  
82 -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.
46 +Be sure to select the appropriate COM port to which the LSS adapter is connected.
83 83  
84 -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).
85 -
86 -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.
87 -
88 -If the red light is solid, then no correct COM port has been located.
89 -
90 -If the green light is solid, the a COM port has been located.
91 -
92 92  **Window Size**
93 93  
94 -**[[image:lss-flowarm-size.jpg]]**
50 +A the top right, there are three dark rectangles representing the window size.
95 95  
96 -A the top right of the window, there are three dark rectangles representing the window size.
52 += 2D Views & Grid =
97 97  
98 -== 2D Views & Grid ==
54 +**Arm Configuration**
99 99  
100 -== Arm Configuration ==
101 -
102 102  The arm shown on screen is based on the assembly guide. BETA testers have been encouraged to use the 3:1 gear ratio in the shoulder and as such should have toggled switch 1 in the header.
103 103  
104 104  The aesthetics of the arms will be changing for the final / release version of the LSS Flowarm software.
105 105  
106 -**Side View**
60 +**Left View**
107 107  
108 -[[image:lss-flowarm-side-view.jpg]]
109 -
110 110  The left view is a representation {more to come|
111 111  
112 112  **Top View**
113 113  
114 -**[[image:lss-flowarm-top-view.jpg]]**
115 -
116 116  The top view shows the arm {more to come}
117 117  
118 -== Left Menu ==
68 += Left Menu =
119 119  
120 -**Gripper**
70 +**Gripper & Wrist**
121 121  
122 -[[image:lss-flowarm-gripper-view.jpg]]
123 -
124 124  The gripper and wrist rotate can be controlled from this menu
125 125  
126 -**Wrist**
127 -
128 -[[image:lss-flowarm-wrist-view.jpg]]
129 -
130 130  **End Effector Position**
131 131  
132 -[[image:lss-flowarm-positioning.jpg]]
133 -
134 134  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.
135 135  
136 -Data Log
78 +**IO Information {Not implemented}**
137 137  
138 -[[image:lss-flowarm-data-log.jpg]]
80 +This section will be used to display sensor data from the LSS IO interface board
139 139  
82 +**Console {Not implemented}**
83 +
140 140  The console will be used as a serial command interface to manually send commands to the bus.
141 141  
142 -== Sequencer ==
86 += Sequencer =
143 143  
144 -[[image:lss-flowarm-sequencer.jpg]]
88 +The sequencer allows the user to record sequences.
145 145  
146 -The sequencer allows the user to record sequences. From left to right:
147 -
148 -Sequence association
149 -
150 150  {Work in progress}
151 151  
152 -[[image:lss-flowarm-keyboard-liveupdate.jpg]]
153 -
154 -= Downloads =
155 -
156 -Download LSS Flowarm 3.0.8.12 [[here>>http://www.lynxmotion.com/tools/LSS%20FlowArm%20BETA%20(3.0.8.12).rar]].
157 -
158 -Password: beta
159 -
160 -BETA: Note that information described here is subject to change, and is available for BETA testers.
161 -
162 -{Work in progress}
92 +
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