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 < 92.1 >
edited by Eric Nantel
on 2019/10/17 15:12
< >
Change comment: Upload new image "lss-flowarm-wrist-view.png", version 1.1

Summary

Details

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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  
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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  
57 57  == Header ==
58 58  
59 -[[image:lss-flowarm-header.jpg]]
60 +[[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
60 60  
62 +**EMERGENCY STOP**
63 +
64 +At any given time you can click this button to stop the arm. This will send a "LIMP" command directly to all servos.
65 +
61 61  **STORE OFFSETS**
62 62  
63 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.
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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]]
76 +(% style="width:700px" %)
77 +|(% 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.
81 +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 77  **STOP**
78 78  
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117 117  
118 118  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.
119 119  
120 -[[image:lss-flowarm-side-view.jpg]]
126 +[[image:lss-flowarm-left.png||width="300"]]
121 121  
122 122  **Top View**
123 123  
124 124  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.
125 125  
126 -**[[image:lss-flowarm-top-view.jpg]]**
132 +**[[image:lss-flowarm-top.png||width="300"]]**
127 127  
128 128  === Shortcuts ===
129 129  
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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
201 +|(% 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  
301 +**Frame Inspector**
302 +
303 +[[image:lss-flowarm-inspector-frame.png]]
304 +
305 +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.
306 +
294 294  == Sequencer ==
295 295  
296 296  **Reverse Frames**
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