Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 80.1 >
edited by Eric Nantel
on 2019/10/17 14:05
To version < 94.1 >
edited by Eric Nantel
on 2019/10/17 15:17
< >
Change comment: Upload new image "lss-flowarm-data-log.png", version 1.1

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59 59  
60 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  
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146 146  
147 147  **Gripper**
148 148  
149 -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.
154 +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.
150 150  
151 -1. Close the gripper to a position just slightly larger than the object
152 -1. Using the arrows, close the gripper until friction between the foam and the object prevent the object from falling out or moving.
153 -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.
154 -1. Use the last position as the "fully closed" position for the gripper for that object, in that specific orientation.
156 +[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
155 155  
156 -[[image:lss-flowarm-gripper-view.jpg]]
157 -
158 158  **Wrist**
159 159  
160 160  The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
161 161  
162 -[[image:lss-flowarm-wrist-view.jpg]]
162 +[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
163 163  
164 164  **End Effector Position**
165 165  
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