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1		-xwiki:XWiki.ENantel
	1	+xwiki:XWiki.CBenson

Content

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6	6	|(% colspan="5" %)(((
7	7	= **Connecting via USB** =
8	8	)))
9		-|(% style="width:10px" %) |(% colspan="4" %)1. Connect the USB cable to the Arm and PC & Power Adapter to the Arm XT60
	9	+|(% style="width:10px" %) |(% colspan="4" %)(((
	10	+1a. Connect the USB cable to the LSS Adapter and then to the PC
	11	+
	12	+1b. Connect the wall adapter to the LSS Adapter's XT60 plug
	13	+)))
10	10	|(% style="width:10px" %) |(% colspan="2" %){{lightbox image="LSS-ADA-Power&USB-B.png"/}}|(% colspan="2" %){{lightbox image="LSS-ADA-Power&USB-A.png"/}}
11		-| |(% colspan="4" %)2. Power the arm using the power supply ON/OFF switch.
	15	+| |(% colspan="4" %)2. Power the arm using the power supply's ON/OFF switch. The computer should detect a USB device and prompt you to install the drivers (FTDI or CH340).
12	12	| |(% colspan="4" %)3. Start the LSS FlowArm software (available [[HERE>>https://www.robotshop.com/en/lynxmotion-lss-lss-flowarm-app-download.html]])
13	13	| |(% colspan="4" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-software/lss-flowarm/WebHome/LSS-FlowArm.png"/}}
14	14	| |(% colspan="4" %)(((
15		-4. Select the type of LSS Arm you are using (3 DoF / 4 DoF / 5 DoF)
	19	+4. Select the type of LSS Arm you are using (3 DoF / 4 DoF / 5 DoF).
16	16
17		-It will automatically try to find the connected Arm but, if not, you can manually choose the appropriate COM port from the drop-down list & the baud rate (default is 115200)
	21	+The software will automatically try to find and connect to the arm. If it is not successful, you can manually choose the appropriate COM port from the drop-down list & select the appropriate baud rate (default is 115200).
18	18	)))
19	19	| |(% colspan="4" %){{lightbox image="LSS-FlowArm-Arm-Selection.png"/}}
20	20	| |(% colspan="4" %)5. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established and a green light will be displayed aside the COM port.
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25	25	= **Calibration (Store Offsets)** =
26	26	)))
27	27	|(% style="width:10px" %) |(% colspan="4" %)(((
28		-1. Go in "TEACH" mode with the button on the top bar.
	32	+1. Start "TEACH" mode with the button on the top bar. The arm should be limp (i.e. servos are not holing their position) and can be physically moved by hand.
29	29	)))
30	30	|(% style="width:10px" %) |(% colspan="4" %){{lightbox image="LSS-FlowArm-Teach.png"/}}
31	31	|(% style="width:10px" %) |(% colspan="4" rowspan="1" %)(((
32		-2. Manually place the physical arm in the correct position for your model and with the gripper closed and keep it in this position until the next step is done. (see images bellow)
	36	+2. Manually place the physical arm in the correct position for your model (shown below) with the gripper fully closed and keep it in this position until the next step is done.
33	33	)))
34	34	|(% style="width:10px" %) |(% colspan="2" style="text-align:center; width:345px" %)4DoF / 5DoF|(% colspan="2" style="text-align:center; width:345px" %)3DoF
35	35	|(% style="width:10px" %) |(% colspan="4" %){{lightbox image="LSS-FlowArm-Calibration.png"/}}
36	36	|(% style="width:10px" %) |(% colspan="4" %)3. Store the values or Offsets by clicking "STORE OFFSETS"
37	37	|(% style="width:10px" %) |(% colspan="4" %){{lightbox image="LSS-FlowArm-Store-Offsets.png"/}}
38		-|(% style="width:10px" %) |(% colspan="4" %)4. At that point the arm should "stay" in that position once released
	42	+|(% style="width:10px" %) |(% colspan="4" %)4. At this point the arm should "stay" in that position once released (servos will hold their position).
39	39	|(% style="width:10px" %) |(% colspan="4" %)5. Exit the "TEACH" mode by clicking it again
	44	+
	45	+To learn more about the features and functionality of the FlowArm software, [[click here>>doc:ses-software.lss-flowarm.WebHome]].
	46	+
	47	+You can also click the information icon (next to LSS FLOWARM) towards the top right for an overlay of all features.
	48	+
	49	+