Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 78.1 >
edited by Eric Nantel
on 2019/10/17 14:05
To version < 90.1 >
edited by Eric Nantel
on 2019/10/17 14:59
< >
Change comment: There is no comment for this version

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57 57  
58 58  == Header ==
59 59  
60 -[[image:lss-flowarm-header.jpg]]
60 +[[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
61 61  
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 +
62 62  **STORE OFFSETS**
63 63  
64 64  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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69 69  * Wrist servo along R axis (parallel to elbow to wrist)
70 70  * Gripper servo closed
71 71  
72 -[[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"]]
73 73  
74 74  **LIMP**
75 75  
76 -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.
77 77  
78 78  **STOP**
79 79  
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118 118  
119 119  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.
120 120  
121 -[[image:lss-flowarm-side-view.jpg]]
126 +[[image:lss-flowarm-left.png||width="300"]]
122 122  
123 123  **Top View**
124 124  
125 125  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.
126 126  
127 -**[[image:lss-flowarm-top-view.jpg]]**
132 +**[[image:lss-flowarm-top.png||width="300"]]**
128 128  
129 129  === Shortcuts ===
130 130  
lss-flowarm-header.jpg
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lss-flowarm-left.png
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lss-flowarm-offset-left.png
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lss-flowarm-offset-top.png
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lss-flowarm-top.png
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