Changes for page FlowArm LSS
Last modified by Eric Nantel on 2024/07/03 09:39
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... ... @@ -1,6 +1,6 @@ 1 - {{lightbox image="LSS-FlowArm.png"width="400"/}}1 +[[image:LSS-FlowArm.png||width="350"]] 2 2 3 -[[ [[image:lynxmotion-wiki-attachments.WebHome@DownloadNow.png]]>>https://www.lynxmotion.com/tools/LSS_FlowArm.zip]]3 +[[image:wiki-download.png]] 4 4 5 5 **Page Contents** 6 6 ... ... @@ -28,7 +28,11 @@ 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 -{{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"/}} 31 +* Base: 1 32 +* Shoulder: 2 33 +* Elbow: 3 34 +* Wrist: 4 35 +* Gripper: 5 32 32 33 33 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]] 34 34 ... ... @@ -36,22 +36,23 @@ 36 36 * Servos have been assembled in correct orientation (as per assembly manual) 37 37 * Servo offsets have been updated if necessary (see procedure below). 38 38 43 +The next important step is "STORE OFFSETS" explained below. 44 + 39 39 == Connecting via USB == 40 40 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 anyRS232 to USBinterface). Here are the steps you need to follow in order to set this up. Follow the steps below: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: 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 46 46 1. Connect the power to the LSS Adapter via the yellow XT60 plug 47 47 1. Power on the robot (On/Off switch) 48 48 1. Start the LSS FlowArm software 49 -1. Select the appropriate COM port from the drop-down list & the baudrate (115200)54 +1. Select the appropriate COM port from the drop-down list 50 50 1. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established. 51 51 52 52 == Connecting via Bluetooth == 53 53 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.59 +If you have purchased a Bluetooth module which is in XBee format, ensure 55 55 56 56 = Interface = 57 57 ... ... @@ -126,7 +126,7 @@ 126 126 127 127 **[[image:lss-flowarm-top-view.jpg]]** 128 128 129 -== =Shortcuts ===134 +== Shortcuts == 130 130 131 131 **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation. 132 132 ... ... @@ -165,13 +165,11 @@ 165 165 166 166 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. 167 167 168 -When in keyboard mode, there is an overlay indicating which keys do what motion. 169 - 170 170 [[image:lss-flowarm-positioning.jpg]] 171 171 172 172 == **Data Log** == 173 173 174 -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.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. 175 175 176 176 [[image:lss-flowarm-data-log.jpg]] 177 177 ... ... @@ -185,15 +185,14 @@ 185 185 |(% 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 186 186 |(% 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. 187 187 |(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Sequence Management|(% style="width:758px" %)((( 188 -Add, remove, duplicate, save, load and clear all patterns.191 +Add, remove, copy, save, load and clear all patterns. 189 189 ))) 190 190 |(% 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. 191 191 |(% style="width:257px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:306px" %)Copy / Paste Frame|(% style="width:758px" %)Copy and paste a frame 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 frames193 -|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %) Timelinelocking195 +|(% 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" %) 194 194 |(% 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. 195 195 |(% 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" %) |(% style="width:306px" %)Frame Inspector|(% style="width:758px" %)Allows to modify the values sent in a particular frame manually. 197 197 198 198 **Sequences** 199 199 ... ... @@ -209,15 +209,15 @@ 209 209 210 210 [[image:lss-flowarm-patterns.jpg]] 211 211 212 -**Add aSequence**214 +**Add Sequence** 213 213 214 214 To add a sequence click the add button. A new sequence will appear in the list and its name will open for editing. 215 215 216 -**Remove aSequence**218 +**Remove Sequence** 217 217 218 218 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. 219 219 220 -**Duplicate aSequence**222 +**Duplicate Sequence** 221 221 222 222 If you want to make a new sequence based on an existing one then you can duplicate it. 223 223 ... ... @@ -232,7 +232,7 @@ 232 232 The sequences in the file will be added to the list. They do not replace the sequence list. Also it doesn't 233 233 matter how many sequences the file contains, all of them will be imported. 234 234 235 -**Clear All Sequences**237 +**Clear All** 236 236 237 237 If you want to start from scratch you can clear all the sequences from the list using the clear all button. 238 238 ... ... @@ -249,10 +249,6 @@ 249 249 250 250 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. 251 251 252 -**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 - 256 256 **Deleting Frames** 257 257 258 258 To delete a sequence or frame from a sequence, click the Delete button. ... ... @@ -263,8 +263,6 @@ 263 263 264 264 **Timeline Locking** 265 265 266 -[[image:lss-flowarm-lock.jpg]] 267 - 268 268 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. 269 269 270 270 **Moving and Resizing** ... ... @@ -272,6 +272,10 @@ 272 272 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 273 273 the right of the selected frame will be moved so that the time interval between the selected frame and the next one is maintained. 274 274 271 +**Recording to a Frame** 272 + 273 +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. 274 + 275 275 **Auto Record** 276 276 277 277 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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