Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 92.1 >
edited by Eric Nantel
on 2019/10/17 15:12
To version < 77.1 >
edited by Eric Nantel
on 2019/10/17 14:01
< >
Change comment: Upload new image "lss-flowarm-inspector-frame.png", version 1.2

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57 57  
58 58  == Header ==
59 59  
60 -[[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
60 +[[image:lss-flowarm-header.jpg]]
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 -
66 66  **STORE OFFSETS**
67 67  
68 68  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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73 73  * Wrist servo along R axis (parallel to elbow to wrist)
74 74  * Gripper servo closed
75 75  
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 +[[image:lss-flowarm-offsets.jpg]]
78 78  
79 79  **LIMP**
80 80  
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 +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.
82 82  
83 83  **STOP**
84 84  
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123 123  
124 124  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.
125 125  
126 -[[image:lss-flowarm-left.png||width="300"]]
121 +[[image:lss-flowarm-side-view.jpg]]
127 127  
128 128  **Top View**
129 129  
130 130  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.
131 131  
132 -**[[image:lss-flowarm-top.png||width="300"]]**
127 +**[[image:lss-flowarm-top-view.jpg]]**
133 133  
134 134  === Shortcuts ===
135 135  
lss-flowarm-gripper-view.png
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