Summary

• Page properties (1 modified, 0 added, 0 removed)
• Attachments (0 modified, 0 added, 8 removed)
  • lss-flowarm-data-log.png
  • lss-flowarm-gripper-view.png
  • lss-flowarm-left.png
  • lss-flowarm-offset-left.png
  • lss-flowarm-offset-top.png
  • lss-flowarm-positioning.png
  • lss-flowarm-top.png
  • lss-flowarm-wrist-view.png

Details

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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
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151	151
152	152	**Gripper**
153	153
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.
	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.
155	155
156		-[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
	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.
157	157
	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.png||alt="lss-flowarm-wrist-view.jpg"]]
	162	+[[image:lss-flowarm-wrist-view.jpg]]
163	163
164	164	**End Effector Position**
165	165

lss-flowarm-data-log.png

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