Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 63.2 >
edited by Eric Nantel
on 2019/09/23 10:46
To version < 132.1 >
edited by Eric Nantel
on 2019/10/18 10:52
< >
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1 -[[image:LSS-FlowArm.png||width="350"]]
1 +{{lightbox image="LSS-FlowArm.png" width="400"/}}
2 2  
3 -[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg||alt="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  
... ... @@ -8,7 +8,7 @@
8 8  
9 9  = Description =
10 10  
11 -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.
11 +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.
12 12  
13 13  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.
14 14  
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42 42  
43 43  1. Connect the USB cable to the LSS Adapter board on your robot
44 44  1. Plug the USB connector into the PC
45 +1. Connect your LSS to the LSS-Adapter with the Lynxmotion cable
45 45  1. Connect the power to the LSS Adapter via the yellow XT60 plug
46 46  1. Power on the robot (On/Off switch)
47 47  1. Start the LSS FlowArm software
48 -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)
49 49  1. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established.
50 50  
51 51  == Connecting via Bluetooth ==
52 52  
53 -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.
54 54  
55 55  = Interface =
56 56  
58 +Following are informations regarding the user interface of LSS FlowArm.
59 +
57 57  == Header ==
58 58  
59 -[[image:lss-flowarm-header.jpg]]
62 +[[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
60 60  
64 +**EMERGENCY STOP**
65 +
66 +At any given time you can click this button to stop the arm. This will send a "LIMP" command directly to all servos.
67 +
61 61  **STORE OFFSETS**
62 62  
63 -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.
70 +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.
64 64  
65 65  * Base servo aligned with the x axis
66 66  * Shoulder to elbow along z axis (straight up)
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68 68  * Wrist servo along R axis (parallel to elbow to wrist)
69 69  * Gripper servo closed
70 70  
71 -[[image:lss-flowarm-offsets.jpg]]
78 +(% style="width:700px" %)
79 +|(% 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"]]
72 72  
73 73  **LIMP**
74 74  
75 -Causes all servos to immediately go 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.
83 +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.
76 76  
77 -**STOP**
85 +**HALT & HOLD**
78 78  
79 79  Causes all servos to immediately stop their motion and hold their position.
80 80  
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115 115  
116 116  **Side View**
117 117  
118 -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 the wrist rotation servo.
126 +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.
119 119  
120 -[[image:lss-flowarm-side-view.jpg]]
128 +[[image:lss-flowarm-left.png||width="300"]]
121 121  
122 122  **Top View**
123 123  
124 -The top view shows the arm top down. You can move the arm within this view by clicking on and dragging the wrist rotation servo.
132 +The top view shows the arm top down. You can move the arm within this view by clicking on and dragging the dot right next to the gripper.
125 125  
126 -**[[image:lss-flowarm-top-view.jpg]]**
134 +**[[image:lss-flowarm-top.png||width="300"]]**
127 127  
128 -=== Shortcuts ===
136 +== Shortcuts ==
129 129  
130 130  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
131 131  
... ... @@ -145,20 +145,15 @@
145 145  
146 146  **Gripper**
147 147  
148 -Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. In order to grasp an object, DO NOT have the servo rotate to a position which it cannot reach. In order to ensure the gripper servo does not go into error mode, the gripper should not exert much force on the object.
156 +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.
149 149  
150 -1. Close the gripper to a position just slightly larger than the object
151 -1. Using the arrows, close the gripper until friction between the foam and the object prevent the object from falling out or moving.
152 -1. DO NOT apply too much pressure, or else the servo's current will spike and it will go into error mode and need to be reset.
153 -1. Use the last position as the "fully closed" position for the gripper for that object, in that specific orientation.
158 +[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
154 154  
155 -[[image:lss-flowarm-gripper-view.jpg]]
156 -
157 157  **Wrist**
158 158  
159 159  The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
160 160  
161 -[[image:lss-flowarm-wrist-view.jpg]]
164 +[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
162 162  
163 163  **End Effector Position**
164 164  
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166 166  
167 167  When in keyboard mode, there is an overlay indicating which keys do what motion.
168 168  
169 -[[image:lss-flowarm-positioning.jpg]]
172 +[[image:lss-flowarm-positioning.png||alt="lss-flowarm-positioning.jpg"]]
170 170  
171 171  == **Data Log** ==
172 172  
173 173  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.
174 174  
175 -[[image:lss-flowarm-data-log.jpg]]
178 +[[image:lss-flowarm-data-log.png||alt="lss-flowarm-data-log.jpg"]]
176 176  
177 177  = Sequencer =
178 178  
179 -[[image:lss-flowarm-sequencer.jpg]]
182 +[[image:lss-flowarm-sequencer.png||alt="lss-flowarm-sequencer.jpg"]]
180 180  
181 181  LSS FlowArm has a powerful pattern sequencer component (normally found only in the full version of FlowBotics Studio) that is used to create reusable patterns within minutes, instead of hours or days.
182 182  
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192 192  |(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)Timeline locking
193 193  |(% 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.
194 194  |(% style="width:257px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:306px" %)Sequence Playback|(% style="width:758px" %)Restart sequence, play or stop
198 +|(% 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.
195 195  
196 196  **Sequences**
197 197  
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291 291  
292 292  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.
293 293  
298 +**Frame Inspector**
299 +
300 +[[image:lss-flowarm-inspector-frame.png]]
301 +
302 +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.
303 +
294 294  == Sequencer ==
295 295  
296 296  **Reverse Frames**
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326 326  
327 327  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.
328 328  
339 += Notifications =
340 +
341 +(% style="width:1300px" %)
342 +|(% style="text-align:center; width:450px" %)**Displayed Error**|(% style="text-align:center; width:100px" %)**LED Status**|(% style="text-align:center" %)**Informations**
343 +|{{lightbox image="lss-flowarm-notification-limp.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
344 +[[image:LSS-UserColor.png||alt="LSS-Error-SafeMode.gif"]]
345 +
346 +User Defined
347 +)))|User clicked on the "LIMP" button or FlowArm noticed an error and put the arm in "LIMP" by himself.
348 +|{{lightbox image="lss-flowarm-notification-firmware.png"/}}|(((
349 +FlowArm noticed an earlier firmware version which is not compatible (SERVO 1 in this example).
350 +
351 +* As suggested, use the LSS-Config software to update the servo(s)
352 +)))
353 +|{{lightbox image="lss-flowarm-notification-current.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
354 +[[image:LSS-Error-SafeMode.gif]]
355 +
356 +Red Flashing
357 +)))|(((
358 +FlowArm noticed a high current error on the specified servo (SERVO 4 in this example)
359 +
360 +* Verify that noting is in the way of the servo that can block it's movement.
361 +* Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
362 +)))
363 +|{{lightbox image="lss-flowarm-notification-temperature.png"/}}|(((
364 +FlowArm noticed a high temperature error on the specified servo (SERVO 5 in this example).
365 +
366 +* Let it cool down for a minute.
367 +* Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
368 +)))
369 +
329 329  = Troubleshooting =
330 330  
331 331  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]]
332 -
333 -{Work in progress}
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