Changes for page FlowArm LSS

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

From version < 58.1 >
edited by Coleman Benson
on 2019/09/18 12:26
To version < 77.1 >
edited by Eric Nantel
on 2019/10/17 14:01
< >
Change comment: Upload new image "lss-flowarm-inspector-frame.png", version 1.2

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1 -[[image:LSS-FlowArm.png||width="350"]]
1 +{{lightbox image="LSS-FlowArm.png" width="400"/}}
2 2  
3 -[[image:wiki-download.png]]
3 +[[[[image:lynxmotion-wiki-attachments.WebHome@DownloadNow.png]]>>https://www.lynxmotion.com/tools/LSS_FlowArm.zip]]
4 4  
5 5  **Page Contents**
6 6  
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28 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 -* Base: 1
32 -* Shoulder: 2
33 -* Elbow: 3
34 -* Wrist: 4
35 -* Gripper: 5
31 +{{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"/}}
36 36  
37 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]]
38 38  
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40 40  * Servos have been assembled in correct orientation (as per assembly manual)
41 41  * Servo offsets have been updated if necessary (see procedure below).
42 42  
43 -The next important step is "STORE OFFSETS" explained below.
44 -
45 45  == Connecting via USB ==
46 46  
47 -The simplest way to connect is directly using an RS232 to USB cable. Here are the steps you need to follow in order to set this up. Follow the steps below:
41 +The simplest way to connect is directly using the [[LSS-Adapter>>doc:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome]] (or any RS232 to USB interface). Here are the steps you need to follow in order to set this up. Follow the steps below:
48 48  
49 49  1. Connect the USB cable to the LSS Adapter board on your robot
50 50  1. Plug the USB connector into the PC
45 +1. Connect your LSS to the LSS-Adapter with the Lynxmotion cable
51 51  1. Connect the power to the LSS Adapter via the yellow XT60 plug
52 52  1. Power on the robot (On/Off switch)
53 53  1. Start the LSS FlowArm software
54 -1. Select the appropriate COM port from the drop-down list
49 +1. Select the appropriate COM port from the drop-down list & the baudrate (115200)
55 55  1. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established.
56 56  
57 57  == Connecting via Bluetooth ==
58 58  
59 -If you have purchased a Bluetooth module which is in XBee format, ensure
54 +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.
60 60  
61 61  = Interface =
62 62  
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131 131  
132 132  **[[image:lss-flowarm-top-view.jpg]]**
133 133  
134 -== Shortcuts ==
129 +=== Shortcuts ===
135 135  
136 136  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
137 137  
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170 170  
171 171  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.
172 172  
168 +When in keyboard mode, there is an overlay indicating which keys do what motion.
169 +
173 173  [[image:lss-flowarm-positioning.jpg]]
174 174  
175 175  == **Data Log** ==
176 176  
177 -The optional Data log can be toggled on or off and allows the user to see all commands being sent to and received from the smart servos. The data can be saved to a file in a Comma Separated Values (.csv) format.
174 +The optional Data log (normally hidden) can be toggled on or off and allows the user to see all commands being sent to and received from the smart servos. The data can be saved to a file in a Comma Separated Values (.csv) format.
178 178  
179 179  [[image:lss-flowarm-data-log.jpg]]
180 180  
181 -== Sequencer ==
178 += Sequencer =
182 182  
183 183  [[image:lss-flowarm-sequencer.jpg]]
184 184  
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188 188  |(% style="width:257px" %)[[image:lss-flowarm-association.jpg]]|(% style="width:306px" %)Assign Input|(% style="width:758px" %)Patterns can be associated to keyboard keys F1 to F12, and keys E, F, G, and H
189 189  |(% style="width:257px" %)[[image:lss-flowarm-pattern-list.jpg]]|(% style="width:306px" %)Sequence List|(% style="width:758px" %)The sequence list is the first control on the sequencer.
190 190  |(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Sequence Management|(% style="width:758px" %)(((
191 -Add, remove, copy, save, load and clear all patterns.
188 +Add, remove, duplicate, save, load and clear all patterns.
192 192  )))
193 193  |(% 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.
194 194  |(% style="width:257px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:306px" %)Copy / Paste Frame|(% style="width:758px" %)Copy and paste a frame
195 -|(% 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
196 -|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)
192 +|(% style="width:257px" %)[[image:lss-flowarm-settings.jpg]]|(% style="width:306px" %)Operations / Settings|(% style="width:758px" %)Useful features include: Toggle pause before frame; Remove gaps between frames; Reverse frames
193 +|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)Timeline locking
197 197  |(% 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.
198 198  |(% style="width:257px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:306px" %)Sequence Playback|(% style="width:758px" %)Restart sequence, play or stop
196 +|(% style="width:257px" %)[[image:lss-flowarm-inspector.png]]|(% style="width:306px" %)Frame Inspector|(% style="width:758px" %)Allows to modify the values sent in a particular frame manually.
199 199  
200 200  **Sequences**
199 +
201 201  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.
202 202  
203 203  **Sequence List**
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210 210  
211 211  [[image:lss-flowarm-patterns.jpg]]
212 212  
213 -**Add Sequence**
212 +**Add a Sequence**
214 214  
215 215  To add a sequence click the add button. A new sequence will appear in the list and its name will open for editing.
216 -Remove 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.
217 217  
218 -**Duplicate Sequence**
216 +**Remove a Sequence**
219 219  
218 +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.
219 +
220 +**Duplicate a Sequence**
221 +
220 220  If you want to make a new sequence based on an existing one then you can duplicate it.
221 221  
222 222  **Saving Sequences**
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230 230  The sequences in the file will be added to the list. They do not replace the sequence list. Also it doesn't
231 231  matter how many sequences the file contains, all of them will be imported.
232 232  
233 -**Clear All**
235 +**Clear All Sequences**
234 234  
235 235  If you want to start from scratch you can clear all the sequences from the list using the clear all button.
236 236  
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247 247  
248 248  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.
249 249  
252 +**Recording to a Frame**
253 +
254 +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.
255 +
250 250  **Deleting Frames**
251 251  
252 252  To delete a sequence or frame from a sequence, click the Delete button.
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257 257  
258 258  **Timeline Locking**
259 259  
266 +[[image:lss-flowarm-lock.jpg]]
267 +
260 260  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.
261 261  
262 262  **Moving and Resizing**
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264 264  To move a frame on the timeline, simply click on it and drag it to the time you want it to start. The start time will be displayed as you drag. How frames move relative to each other is determined by whether the timeline is locked (see previous section). To resize a frame grab the right-hand edge and drag it. When moving or resizing the mouse snaps to the nearest unit on the timeline. If you hold SHIFT while moving or resizing no snap will be applied. When the timeline is unlocked then if you hold CTRL while dragging or resizing a frame all frames to
265 265  the right of the selected frame will be moved so that the time interval between the selected frame and the next one is maintained.
266 266  
267 -**Recording to a Frame**
268 -
269 -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.
270 -
271 271  **Auto Record**
272 272  
273 273  If you want changes you make to be automatically recorded you can lock the record button in place by double-clicking on it. Now whenever you change the robot position the currently elected frame will be updated. The record button will light up to show that auto record is on. To switch auto record off, double-click on the record button again.
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289 289  
290 290  If the timeline is unlocked then you can instantly remove all the gaps between frames and push them up against each other by clicking the Operations button and choosing Remove Gaps Between Frames from the menu.
291 291  
292 -== SEQUENCER ==
296 +**Frame Inspector**
293 293  
298 +[[image:lss-flowarm-inspector-frame.png]]
299 +
300 +If any adjustments are required on a particular joint (servo) this function allows you to manually change them. Click on the particular frame and the commands can be edited.
301 +
302 +== Sequencer ==
303 +
294 294  **Reverse Frames**
295 295  
296 296  [[image:lss-flowarm-settings.jpg]]
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314 314  
315 315  **Decision Frame**
316 316  
317 -At the end of every sequence there is a permanent frame called the decision frame (it is orange for easy identification):
318 -Click on the top part (orange) to change the last action of the sequence. There are 3 options:
319 -• STOP: once the sequence is completed, nothing else will happen
320 -• LOOP: once the sequence is completed, it will repeat a set amount of time
321 -• GOTO: once the sequence is completed, it will trigger the input selected
322 -If another sequence is associated with that input, it will then play Playback Control
323 -You can change the speed of playback by changing the speed multiplier. Click the up and down arrows to alter this.
324 -Normally a sequence plays to the end then stops. However, sometimes you want a sequence to repeat. You can toggle this by clicking the Loop button.
327 +**[[image:lss-flowarm-decision-frame.jpg]]**
325 325  
329 +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:
330 +
331 +* STOP: once the sequence is completed, nothing else will happen
332 +* LOOP: once the sequence is completed, it will repeat a set amount of time
333 +* GOTO: once the sequence is completed, it will trigger the input selected
334 +
335 +If another sequence is associated with that input, it will then play Playback Control. You can change the speed of playback by changing the speed multiplier. Click the up and down arrows to alter this. Normally a sequence plays to the end then stops. However, sometimes you want a sequence to repeat. You can toggle this by clicking the Loop button.
336 +
326 326  = Troubleshooting =
327 327  
328 328  If you encounter any bugs or issues when installing or using the LSS FlowArm application, please submit a new post on the Lynxmotion community sub-forum here: [[https:~~/~~/www.robotshop.com/community/forum/c/lynxmotion/electronics-software>>url:https://www.robotshop.com/community/forum/c/lynxmotion/electronics-software]]
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