Changes for page FlowArm LSS
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... ... @@ -1,6 +1,6 @@ 1 1 [[image:LSS-FlowArm.png||width="350"]] 2 2 3 -[[image:wiki-download.png]] 3 +[[[[image:wiki-download.png]]>>https://www.robotshop.com/en/lynxmotion-smart-servo-lss-configuration-software.html||rel="noopener noreferrer" target="_blank"]] 4 4 5 5 **Page Contents** 6 6 ... ... @@ -8,9 +8,9 @@ 8 8 9 9 = Description = 10 10 11 - The LSS FlowArmapplicationis intended to allow easy control of the standard Lynxmotion Servo Erector Set (S.E.S.) v2 articulated robotic arm. Thegraphicalinterfaceshows multiple viewsof the arm which canbe 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.11 +{Coming soon} 12 12 13 -Flow Botics Studio wasused tocreate this appand includeshundredsof built-in componentsthat allow youtointerfaceyourPCtomanystandard computerperipherals and robotics components, andyou canquickly designnew components fornewhardware.asilycreatenew projects withcustom GUI screens,knobs, buttons, switches,etc. that willrunlivefrom within FlowBoticsStudio withoutneedingtoaitfor compilation,orexportas stand-aloneexecutablefiles. FlowBoticsStudioincludesapowerfulgraphics enginethatallowsyoutomakecustom graphicalobjects byusing standard bitmaps or by drawingyour ownshapesonthe screen. Usingthissystem,youcan build entirelycustominterfaceslikethisoneforyour projectsand integratephotographs,drawings, and graphs.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 14 15 15 = Features = 16 16 ... ... @@ -19,13 +19,13 @@ 19 19 * Teach mode allows the user to move the arm and have the virtual arm follow 20 20 * Position the arm using rectangular or cylindrical coordinates, virtual joysticks or mouse drag 21 21 * Application can be modified via FlowBotics Studio 22 -* Optional data log shows what commands are sent and received and can be saved as a .csv file. 23 -* LSS FlowArm is intended only for Windows operating systems 7 or higher. 24 24 25 25 = Initial Setup = 26 26 27 27 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. 28 28 27 += Servo IDs = 28 + 29 29 Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software. 30 30 31 31 * Base: 1 ... ... @@ -34,14 +34,8 @@ 34 34 * Wrist: 4 35 35 * Gripper: 5 36 36 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]]37 +To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Follow the procedure outlined here 38 38 39 -Important note: The software does not take into consideration if a servo has been improperly assembled as part of the structure. If you see that your arm moves differently than the arm on screen, be sure to check the following: 40 - 41 -* Servo ID is correctly assigned to each servo and there are no duplicate IDs 42 -* Servos have been assembled in correct orientation (as per assembly manual) 43 -* Servo offsets have been updated if necessary (see procedure below). 44 - 45 45 = Interface = 46 46 47 47 == Header == ... ... @@ -50,33 +50,38 @@ 50 50 51 51 **STORE OFFSETS** 52 52 53 - During theassemblyprocess, iftheservo's driving output horn was not rotated(they are shipped with the driving horn centered at 0 degrees), and was connected to the bracketsat the correct angle (parallel or perpendicular depending onthe servo being assembled),there shouldnotbe any servo offsetneeded and the arm shouldmatchwhat is displayed onscreen. However, should the drivinghorn haverotated and/or thebrackets were not connected at optimalangles,the "STORE OFFSETS" button configurestheall of theservo 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 gripper closed), and only then click the STORE OFFSETS button.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]]). 54 54 55 -[[image:lss-flowarm-offsets.jpg]] 56 - 57 57 **LIMP** 58 58 59 -Causes all servos to immediatelygo LIMP (i.e. lose torque). The arm will collapse.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.51 +Causes all servos to go LIMP (i.e. lose torque). The arm will collapse. 60 60 61 61 **STOP** 62 62 63 -Causes all servos to immediatelystop their motion and hold their position.55 +Causes all servos to stop their motion and hold their position. 64 64 65 65 **TEACH** 66 66 67 -Teach mode allows a user to physically move the arm andhavethe virtual armonscreen follow. This is used primarilyto manually add framesto sequences, determine the optimal closed position for thegripper etc. Inorder to ensure the armdoesnot collapse, pressing the TEACH button will start a 5 second countdown during which thearm will slowly losetorque (angular force) until all servos are limp. Whenin teach mode, an orange outline appears over all on-screen fields which would cause a conflict and therefore cannot be used.59 +Teach mode allows a user to physically move the arm to a designed location 68 68 69 - CAREFUL: Donotmove theservosor the armtooquickly. Wesuggest holding thegripper servo tomovethe arm,ortemporarilyremovingthearm's aestheticshell.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. 70 70 71 - Once thearmislimp, itcanbemovedphysically, andthe application willregularly sendpositionquerycommandstoall of theservosand update the virtualarmonto match theervo'sresponses. Use the sequencertorecord eachposition(frame) whilein teachmode. For more informationonthesequencer, refertohesequencersection below.63 +When in teach mode, an orange outline appears over all on-screen fields which would cause a conflict and therefore cannot be used. 72 72 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 + 73 73 **GRID / Units** 74 74 75 - Gridspacing can be toggled between Metric or Imperial. Options include 2cm, 3cm, 5cm and 1in, 2in and 3in.74 +Units can be toggled between Metric or Imperial 76 76 77 77 **BAUD** 78 78 79 -The default(andsuggested)baud rateis 115200, which is theatwhichthe servosare 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.78 +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. 80 80 81 81 **COM** 82 82 ... ... @@ -120,22 +120,12 @@ 120 120 121 121 **Gripper** 122 122 123 -Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. 124 - 125 -In order to grasp an object, DO NOT have the servo rotate to a position which it cannot reach. Plan in advance: 126 - 127 -1. Close the gripper to a position just slightly larger than the object 128 -1. Using the arrows, close the gripper until friction between the foam and the object prevent the object from falling out or moving. 129 -1. DO NOT apply too much pressure, or else the servo's current will spike and it will go into error mode. 130 -1. Use the last position as the "fully closed" position for the gripper for that object. 131 - 132 132 [[image:lss-flowarm-gripper-view.jpg]] 133 133 124 +The gripper and wrist rotate can be controlled from this menu 134 134 135 135 **Wrist** 136 136 137 -The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows. 138 - 139 139 [[image:lss-flowarm-wrist-view.jpg]] 140 140 141 141 **End Effector Position** ... ... @@ -154,19 +154,12 @@ 154 154 155 155 [[image:lss-flowarm-sequencer.jpg]] 156 156 157 - LSS FlowArmhas a powerfulpatternsequencercomponent (normally found only in the full version of FlowBoticsStudio) that is usedto create reusablepatternswithin minutes, insteadofhoursorays.Thesequencer also allows you to vary the speed of playback of a routine. From left to right:146 +The sequencer allows the user to record sequences. From left to right: 158 158 159 -(% style="width:1303px" %) 160 -|(% style="width:257px" %)[[image:lss-flowarm-association.jpg]]|(% style="width:306px" %)Keyboard Association|(% style="width:758px" %)Patterns can be associated to keyboard keys F1 to F12, and keys E, F, G, and H 161 -|(% style="width:257px" %)[[image:lss-flowarm-pattern-list.jpg]]|(% style="width:306px" %)Active Pattern Name|(% style="width:758px" %)Click on the text to change the pattern name. Use the arrows to navigate between patterns 162 -|(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Pattern Options|(% style="width:758px" %)Add, remove, copy, save, open and delete patterns. 163 -|(% style="width:257px" %)[[image:lss-flowarm-frames.jpg]]|(% style="width:306px" %)Frame Options|(% style="width:758px" %)Adding a frame adds a blank frame to the list. The drop-down list gives "useful" pre-made frames. Recording a frame copies the arm's current on-screen position. The X removes a selected frame. 164 -|(% style="width:257px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:306px" %)Copy / Paste Frame|(% style="width:758px" %)Copy and paste a frame 165 -|(% style="width:257px" %)[[image:lss-flowarm-settings.jpg]]|(% style="width:306px" %)Settings|(% style="width:758px" %)Useful features include: Toggle pause before frame; Remove gaps between frames; Reverse frames 166 -|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %) 167 -|(% style="width:257px" %)[[image:lss-flowarm-loop.jpg]]|(% style="width:306px" %)Repeat / Loop Pattern|(% style="width:758px" %)Play once or loop; Set the playback speed using the up and down arrows. 168 -|(% style="width:257px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:306px" %)Playback Options|(% style="width:758px" %)Restart sequence, play or stop 148 +Sequence association 169 169 150 +{Work in progress} 151 + 170 170 [[image:lss-flowarm-keyboard-liveupdate.jpg]] 171 171 172 172 = Downloads =
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