Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39

From version < 91.1 >

edited by Eric Nantel
on 2019/10/17 15:12

To version < 58.1 >

edited by Coleman Benson
on 2019/09/18 12:26

< >

Change comment: Uploaded new attachment "lss-flowarm-decision-frame.jpg", version {1}

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--{{lightbox image="LSS-FlowArm.png" width="400"/}}
++[[image:LSS-FlowArm.png||width="350"]]
--[[[[image:lynxmotion-wiki-attachments.WebHome@DownloadNow.png]]>>https://www.lynxmotion.com/tools/LSS_FlowArm.zip]]
++[[image:wiki-download.png]]
  **Page Contents**
@@ -28,7
          +28,11 @@
  Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
--{{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"/}}
++* Base: 1
++* Shoulder: 2
++* Elbow: 3
++* Wrist: 4
++* Gripper: 5
  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]]
@@ -36,33
          +36,30 @@
  * Servos have been assembled in correct orientation (as per assembly manual)
  * Servo offsets have been updated if necessary (see procedure below).
++The next important step is "STORE OFFSETS" explained below.
++
  == Connecting via USB ==
--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 any RS232 to USB interface). Here are the steps you need to follow in order to set this up. Follow the steps below:
++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:
 . Connect the USB cable to the LSS Adapter board on your robot
 . Plug the USB connector into the PC
--1. Connect your LSS to the LSS-Adapter with the Lynxmotion cable
 . Connect the power to the LSS Adapter via the yellow XT60 plug
 . Power on the robot (On/Off switch)
 . Start the LSS FlowArm software
--1. Select the appropriate COM port from the drop-down list & the baudrate (115200)
++1. Select the appropriate COM port from the drop-down list
 . The software sends a query to servo ID1 and once a reply is received, it determines connection has been established.
  == Connecting via Bluetooth ==
--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.
++If you have purchased a Bluetooth module which is in XBee format, ensure
  = Interface =
  == Header ==
--[[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
++[[image:lss-flowarm-header.jpg]]
--**EMERGENCY STOP**
--
--At any given time you can click this button to stop the arm. This will send a "LIMP" command directly to all servos.
--
  **STORE OFFSETS**
  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.
@@ -73,12
          +73,11 @@
  * Wrist servo along R axis (parallel to elbow to wrist)
  * Gripper servo closed
--(% style="width:700px" %)
--|(% 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"]]
++[[image:lss-flowarm-offsets.jpg]]
  **LIMP**
--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.
++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.
  **STOP**
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  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.
--[[image:lss-flowarm-left.png||width="300"]]
++[[image:lss-flowarm-side-view.jpg]]
  **Top View**
  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.
--**[[image:lss-flowarm-top.png||width="300"]]**
++**[[image:lss-flowarm-top-view.jpg]]**
--=== Shortcuts ===
++== Shortcuts ==
  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
@@ -170,17
          +170,15 @@
  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.
--When in keyboard mode, there is an overlay indicating which keys do what motion.
--
  [[image:lss-flowarm-positioning.jpg]]
  == **Data Log** ==
--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.
++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.
  [[image:lss-flowarm-data-log.jpg]]
--= Sequencer =
++== Sequencer ==
  [[image:lss-flowarm-sequencer.jpg]]
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  |(% 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
  |(% 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.
  |(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Sequence Management|(% style="width:758px" %)(((
--Add, remove, duplicate, save, load and clear all patterns.
++Add, remove, copy, save, load and clear all patterns.
  )))
  |(% 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.
  |(% style="width:257px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:306px" %)Copy / Paste Frame|(% style="width:758px" %)Copy and paste a frame
--|(% 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 frames
--|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)Timeline locking
++|(% 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
++|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)
  |(% 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.
  |(% style="width:257px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:306px" %)Sequence Playback|(% style="width:758px" %)Restart sequence, play or stop
--|(% 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.
  **Sequences**
--
  The sequencer allows you to make your robot move over time by transitioning from one position to another. Each transition we call a frame and a sequence of frames we call a sequence. You can create as many sequences as you like. You can play sequences back manually or using the keyboard inputs mentioned below. This section describes the sequence management functions of the Sequencer.
  **Sequence List**
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  [[image:lss-flowarm-patterns.jpg]]
--**Add a Sequence**
++**Add Sequence**
  To add a sequence click the add button. A new sequence will appear in the list and its name will open for editing.
++Remove Sequence: 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.
--**Remove a Sequence**
++**Duplicate Sequence**
--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.
--
--**Duplicate a Sequence**
--
  If you want to make a new sequence based on an existing one then you can duplicate it.
  **Saving Sequences**
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  The sequences in the file will be added to the list. They do not replace the sequence list. Also it doesn't
  matter how many sequences the file contains, all of them will be imported.
--**Clear All Sequences**
++**Clear All**
  If you want to start from scratch you can clear all the sequences from the list using the clear all button.
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  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.
--**Recording to a Frame**
--
--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.
--
  **Deleting Frames**
  To delete a sequence or frame from a sequence, click the Delete button.
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  **Timeline Locking**
--[[image:lss-flowarm-lock.jpg]]
--
  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.
  **Moving and Resizing**
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  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
  the right of the selected frame will be moved so that the time interval between the selected frame and the next one is maintained.
++**Recording to a Frame**
++
++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.
++
  **Auto Record**
  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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  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.
--**Frame Inspector**
++== SEQUENCER ==
--[[image:lss-flowarm-inspector-frame.png]]
--
--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.
--
--== Sequencer ==
--
  **Reverse Frames**
  [[image:lss-flowarm-settings.jpg]]
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          +329,15 @@
  **Decision Frame**
--**[[image:lss-flowarm-decision-frame.jpg]]**
++At the end of every sequence there is a permanent frame called the decision frame (it is orange for easy identification):
++Click on the top part (orange) to change the last action of the sequence. There are 3 options:
++• STOP: once the sequence is completed, nothing else will happen
++• LOOP: once the sequence is completed, it will repeat a set amount of time
++• GOTO: once the sequence is completed, it will trigger the input selected
++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.
--At the end of every sequence there is a permanent frame called the decision frame (it is orange for easy identification). Click on the top part (orange) to change the last action of the sequence. There are 3 options:
--
--* STOP: once the sequence is completed, nothing else will happen
--* LOOP: once the sequence is completed, it will repeat a set amount of time
--* GOTO: once the sequence is completed, it will trigger the input selected
--
--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.
--
  = Troubleshooting =
  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]]

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