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1 1  {{html wiki="false" clean="true"}}
2 +<table border="0" cellpadding="0" cellspacing="0" width="100%">
3 + <tbody>
4 + <tr>
5 + <td style="vertical-align: top; text-align: left; width: 100%;"><b><font face="Verdana" size="2">AL5A Arm Assembly Instructions Rev. 2.1.</font></b>
6 + <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
7 + </font></b></p>
8 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
9 + <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
10 +the SSC-32 or the SSC-32U servo controller. Take note of which version you have
11 +and follow each step accordingly, as the connections and configuration
12 +are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
13 + <ul>
14 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
15 + <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
16 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
17 + <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
18 + </ul>
2 2  
20 +
21 +
22 + <p><font face="Verdana" size="2">Note: Loctite / thread lock
23 +can be used on the construction of the aluminum components, though it
24 +is not necessary if the nuts are properly tightened. However,
25 +don't use them with Lexan or plastic, as they are not necessary and may
26 +cause
27 +damage.</font></p>
28 +</td>
29 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a20.jpg" border="2" height="240" hspace="10" width="320"><br>
30 + <b>Image of complete arm (SSC-32 Shown).</b></font></td>
31 + </tr>
32 + <tr>
33 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
34 + </tr>
35 + <tr>
36 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Lexan Preparation.<br>
37 + </b>The lexan pieces have a protective covering that needs to be
38 +removed before assembly. When the laser cuts, the covering melts into
39 +the cut edge which can make removal difficult. If you gently scrape the
40 +cut edge with a flat blade screwdriver, the covering can easily be
41 +lifted and peeled off.</font>
42 + <p><font face="Verdana" size="2">On smaller pieces the coverings
43 +can be more difficult to remove. If you have trouble you can gently
44 +scrape the cut edge, then use duct tape to lift the covering off.</font></p>
45 + <p><font face="Verdana" size="2">For further information on
46 +lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
47 +page</a>.</font></p>
48 + </td>
49 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/lexan01.jpg" border="2" height="240" hspace="10" width="320"><br>
50 +Lexan Preparation.</font></td>
51 + </tr>
52 + <tr>
53 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
54 + </tr>
55 + <tr>
56 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br>
57 +Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
58 +x 1/4" screws and 2-56 nuts.<br>
59 + <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
60 + <table border="0" width="100%">
61 + <tbody>
62 + <tr>
63 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
64 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
65 + </tr>
66 + <tr>
67 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
68 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
69 + </tr>
70 + </tbody>
71 + </table>
72 + </font></td>
73 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a01.JPG" border="2" height="240" hspace="10" width="320"><br>
74 +Figure 1.</font></td>
75 + </tr>
76 + <tr>
77 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
78 + </td>
79 + </tr>
80 + <tr>
81 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br>
82 + </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
83 +machine screws. Be sure to add the discs to the correct side and </font><font face="Verdana" size="2">ensure the protective covering has been
84 +removed from the Lexan parts.</font><font face="Verdana" size="2">
85 +Press down when screwing to ensure there is no gap between the Lexan
86 +and the aluminum, as the screw will be threading the Lexan. </font><br>
87 +
88 + <p align="center"><font face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/arm02.GIF" border="2" height="96" width="320"></font></p>
89 + </td>
90 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a02.jpg" border="2" height="240" hspace="10" width="320"><br>
91 +Figure 2.</font></td>
92 + </tr>
93 + <tr>
94 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
95 + </tr>
96 + <tr>
97 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br>
98 + </b>Insert the 4-40 x .5" Phillips head screw through the hole in
99 +the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
100 +&nbsp;</font>
101 + <table border="0" width="100%">
102 + <tbody>
103 + <tr>
104 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
105 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
106 + </tr>
107 + <tr>
108 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
109 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
110 + </tr>
111 + </tbody>
112 + </table>
113 + </td>
114 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a03.jpg" border="2" height="240" hspace="10" width="320"><br>
115 +Figure 3.</font></td>
116 + </tr>
117 + <tr>
118 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
119 + </tr>
120 + <tr>
121 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br>
122 + </b>Slide the large "C" bracket end of the bracket assembly over
123 +the screw as shown, and secure with a nylon insert lock nut. The amount
124 +of friction can be adjusted by tightening or loosening the lock nut.
125 +Start with the nut loose, and if the arm seems to wobble a bit, you can
126 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
127 +- don't over-tighten this! If the arm is operated with the mechanical
128 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
129 +&nbsp;</font>
130 + <table border="0" width="100%">
131 + <tbody>
132 + <tr>
133 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
134 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
135 + </tr>
136 + <tr>
137 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
138 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
139 + </tr>
140 + </tbody>
141 + </table>
142 + </td>
143 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a04.jpg" border="2" height="240" hspace="10" width="320"><br>
144 +Figure 4.</font></td>
145 + </tr>
146 + <tr>
147 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
148 + </td>
149 + </tr>
150 + <tr>
151 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
152 +5.<br>
153 + </b>Figure 5 shows a typical mega-size servo with its default
154 +servo horn at center position. You will need to replace this black
155 +servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
156 +
157 + <p><font face="Verdana" size="2">Remove
158 +the servo horn screw,
159 +being careful to not rotate the servo horn itself. Pull the servo horn
160 +off, then press the nylon servo horn in place, as close to the
161 +alignment shown as possible. Replace the servo horn screw. Make sure
162 +your large servo looks like figure 5. The arrows in the image point to
163 +the screw holes you will
164 +use.</font></p>
165 + </td>
166 + <td align="center" valign="bottom" width="50%"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/mservo01.jpg" border="2" height="240" hspace="10" width="320"><br>
167 + <font face="Verdana" size="2">Figure 5.</font></td>
168 + </tr>
169 + <tr>
170 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
171 + </tr>
172 + <tr>
173 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br>
174 + </b>Attach the HS-755HB servo to the base bracket as shown using
175 +the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
176 +screws to secure the bracket to the servo horn. Route the shoulder
177 +servo wires underneath the servo. Plug the servo into channel 1 on the
178 +SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
179 +take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
180 +&nbsp;</font>
181 + <table border="0" width="100%">
182 + <tbody>
183 + <tr>
184 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
185 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
186 + </tr>
187 + <tr>
188 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
189 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
190 + </tr>
191 + <tr>
192 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
193 + </tr>
194 + <tr>
195 + <td colspan="2" width="100%">
196 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p>
197 + </td>
198 + </tr>
199 + </tbody>
200 + </table>
201 + </td>
202 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a21.jpg" border="2" height="240" hspace="10" width="320"><br>
203 +Figure 6.</font></td>
204 + </tr>
205 + <tr>
206 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
207 + </td>
208 + </tr>
209 + <tr>
210 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br>
211 + </b>Attach two of the tubing connector hubs to the short side of
212 +the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana" size="2"> Orientation is important; the hole in the tube should be as shown, so
213 +the tube will line up as in figure 8.</font><br>
214 + <font face="Verdana, Helvetica, sans-serif" size="2">
215 +&nbsp;</font>
216 + <table border="0" width="100%">
217 + <tbody>
218 + <tr>
219 + <td width="50%"><font face="Verdana" size="2"><b>4 x (two each)<br>
220 +</b></font></td>
221 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
222 + </tr>
223 + <tr>
224 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
225 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
226 + </tr>
227 + </tbody>
228 + </table>
229 + </td>
230 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a05.jpg" border="2" height="240" hspace="10" width="320"><br>
231 +Figure 7.</font></td>
232 + </tr>
233 + <tr>
234 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
235 + </tr>
236 + <tr>
237 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br>
238 + </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
239 +screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
240 +&nbsp;</font>
241 + <table border="0" width="100%">
242 + <tbody>
243 + <tr>
244 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
245 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
246 + </tr>
247 + <tr>
248 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/4250hscs.GIF" border="2" height="96" width="160"></font></td>
249 + <td width="50%"><font face="Verdana" size="2">&nbsp;</font></td>
250 + </tr>
251 + </tbody>
252 + </table>
253 + </td>
254 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a06.JPG" border="2" height="240" hspace="10" width="320"><br>
255 +Figure 8.</font></td>
256 + </tr>
257 + <tr>
258 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
259 + </tr>
260 + <tr>
261 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br>
262 + </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
263 +shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
264 +&nbsp;</font>
265 + <table border="0" width="100%">
266 + <tbody>
267 + <tr>
268 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
269 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
270 + </tr>
271 + <tr>
272 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
273 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
274 + </tr>
275 + </tbody>
276 + </table>
277 + </td>
278 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a07.jpg" border="2" height="240" hspace="10" width="320"><br>
279 +Figure 9.</font></td>
280 + </tr>
281 + <tr>
282 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
283 + </td>
284 + </tr>
285 + <tr>
286 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br>
287 +Insert the 4-40 x .5" Phillips head screw through the hole in the
288 +multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
289 +&nbsp;</font>
290 + <table border="0" width="100%">
291 + <tbody>
292 + <tr>
293 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
294 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
295 + </tr>
296 + <tr>
297 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
298 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
299 + </tr>
300 + </tbody>
301 + </table>
302 + </td>
303 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a08.jpg" border="2" height="240" hspace="10" width="320"><br>
304 +Figure 10.</font></td>
305 + </tr>
306 + <tr>
307 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
308 + </tr>
309 + <tr>
310 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br>
311 + </b>Slide the screw on the forearm assembly through the dampening
312 +discs as shown, and secure with a nylon insert lock nut. The amount of
313 +friction can be adjusted by tightening or loosening the lock nut. Start
314 +with the nut loose, and if the arm seems to wobble a bit, you can
315 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
316 +- don't over-tighten this! If the arm is operated with the mechanical
317 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
318 +&nbsp;</font>
319 + <table border="0" width="100%">
320 + <tbody>
321 + <tr>
322 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
323 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
324 + </tr>
325 + <tr>
326 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
327 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
328 + </tr>
329 + </tbody>
330 + </table>
331 + </td>
332 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a09.jpg" border="2" height="240" hspace="10" width="320"><br>
333 +Figure 11.</font></td>
334 + </tr>
335 + <tr>
336 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
337 + </tr>
338 + <tr>
339 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
340 +12.<br>
341 + </b>Figure 12 illustrates a typical standard-size servo with its
342 +output horn (the round white part) at center position. Make sure your
343 +servo looks like the image. The arrows in the image point to the screw
344 +holes you will use.</font></td>
345 + <td align="center" valign="bottom" width="50%"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/servo02.jpg" border="2" height="240" hspace="10" width="320"><br>
346 + <font face="Verdana" size="2">Figure 12.</font></td>
347 + </tr>
348 + <tr>
349 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
350 + </td>
351 + </tr>
352 + <tr>
353 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br>
354 +Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
355 +hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
356 +secure the bracket to the servo horn. Route the shoulder servo wires
357 +over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
358 +&nbsp;</font>
359 + <table border="0" width="100%">
360 + <tbody>
361 + <tr>
362 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
363 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
364 + </tr>
365 + <tr>
366 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
367 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
368 + </tr>
369 + <tr>
370 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
371 + </tr>
372 + <tr>
373 + <td colspan="2" width="100%">
374 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p>
375 + </td>
376 + </tr>
377 + </tbody>
378 + </table>
379 + </td>
380 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a10.jpg" border="2" height="240" hspace="10" width="320"><br>
381 +Figure 13.</font></td>
382 + </tr>
383 + <tr>
384 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
385 + </tr>
386 + <tr>
387 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br>
388 + </b>Attach the Little Gripper connector to the Short "C" bracket
389 +using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
390 +&nbsp;</font>
391 + <table border="0" width="100%">
392 + <tbody>
393 + <tr>
394 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
395 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
396 + </tr>
397 + <tr>
398 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
399 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
400 + </tr>
401 + </tbody>
402 + </table>
403 + </td>
404 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a11.jpg" border="2" height="240" hspace="10" width="320"><br>
405 +Figure 14.</font></td>
406 + </tr>
407 + <tr>
408 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
409 + </td>
410 + </tr>
411 + <tr>
412 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br>
413 + </b>Attach the short "C" bracket to the other Multi-purpose
414 +bracket as shown.</font>
415 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/ballb02.gif" border="2" height="96" hspace="10" width="320"><br>
416 +Figure 15-1.</font></p>
417 + </td>
418 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a12.jpg" border="2" height="240" hspace="10" width="320"><br>
419 +Figure 15-2.</font></td>
420 + </tr>
421 + <tr>
422 + <td colspan="2" align="left" valign="top" width="100%">&nbsp;</td>
423 + </tr>
424 + <tr>
425 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br>
426 + </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
427 +diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
428 +to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
429 +&nbsp;</font>
430 + <table border="0" width="100%">
431 + <tbody>
432 + <tr>
433 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
434 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
435 + </tr>
436 + <tr>
437 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
438 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
439 + </tr>
440 + <tr>
441 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
442 + </tr>
443 + <tr>
444 + <td colspan="2" width="100%">
445 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p>
446 + </td>
447 + </tr>
448 + </tbody>
449 + </table>
450 + </td>
451 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a13.jpg" border="2" height="240" hspace="10" width="320"><br>
452 +Figure 16.</font></td>
453 + </tr>
454 + <tr>
455 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
456 + </td>
457 + </tr>
458 + <tr>
459 + <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br>
460 + </b>Attach the Little Grip to the Lexan as shown, using three
461 +4-40 x .375" button head screws and acorn locking nuts. Only three
462 +screws are used (shown in the image) as the body of the gripper servo
463 +is in the way for the fourth.</font>
464 + <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
465 +may be substituted) servo is aligned to mid-position, and the gripper
466 +is halfway open. Now the servo and gripper will be aligned correctly.
467 +Remove the servo screw and horn. Slide the servo into the gripper from
468 +the bottom. You may need to wiggle it a bit to get it seated properly.
469 +Use the servo screw to attach the servo. Tighten this down, but then
470 +unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
471 +&nbsp;</font> </p>
472 + <table border="0" width="100%">
473 + <tbody>
474 + <tr>
475 + <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
476 +</b></font></td>
477 + <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
478 + </b></font></td>
479 + </tr>
480 + <tr>
481 + <td width="50%"><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
482 + <td width="50%"><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440nan.GIF" border="2" height="96" width="160"></b></font></td>
483 + </tr>
484 + </tbody>
485 + </table>&nbsp;
486 +<p><font face="Verdana" size="2"><b>Step 18.</b><br>
487 +Add 6" servo extender cables to the wrist and gripper servos.</font></p>
488 + </td>
489 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a14.jpg" border="2" height="240" width="320"><br>
490 +Figure 17.<br>
491 +&nbsp;</font></td>
492 + </tr>
493 + <tr>
494 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a15.jpg" border="2" height="240" width="320"><br>
495 +Figure 18.</font></td>
496 + </tr>
497 + <tr>
498 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
499 + </tr>
500 + <tr>
501 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br>
502 + </b>Carefully bend the wrist servo back as far as it will go, and
503 +use wire ties to secure the servo cables as shown. Make sure to leave
504 +slack in the gripper servo cable, don't pull it too tight.</font></td>
505 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a16.jpg" border="2" height="240" width="320"><br>
506 +Figure 19.</font></td>
507 + </tr>
508 + <tr>
509 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
510 + </td>
511 + </tr>
512 + <tr>
513 + <td align="left" valign="top" width="50%">
514 + <p><font face="Verdana" size="2"><b>Step 20.<br>
515 + </b>Carefully stretch the arm forward as far as it will go, and
516 +use wire ties to secure the servo cables as shown. Make sure to leave
517 +slack in the cables, don't pull them too tight. Plug the servos in
518 +according to Table 20.</font></p>
519 + <div align="center">
520 + <center>
521 + <table border="1" bordercolor="#ffffff" width="320">
522 + <tbody>
523 + <tr>
524 + <td width="100%">
525 + <div align="center">
526 + <table border="1" bordercolor="#000000" width="320">
527 + <tbody>
528 + <tr>
529 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
530 +I/O</b></font></td>
531 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
532 + </tr>
533 + <tr>
534 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
535 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
536 + </tr>
537 + <tr>
538 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
539 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
540 + </tr>
541 + <tr>
542 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
543 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
544 + </tr>
545 + <tr>
546 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
547 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
548 + </tr>
549 + <tr>
550 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
551 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
552 + </tr>
553 + <tr>
554 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
555 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
556 +Rotate (Optional)</font></td>
557 + </tr>
558 + </tbody>
559 + </table>
560 + </div>
561 + </td>
562 + </tr>
563 + <tr>
564 + <td bordercolor="#FFFFFF">
565 + <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
566 + </td>
567 + </tr>
568 + </tbody>
569 + </table>
570 + </center>
571 + </div>
572 + </td>
573 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a17.jpg" border="2" height="240" width="320"><br>
574 +Figure 20.</font></td>
575 + </tr>
576 + <tr>
577 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
578 + </tr>
579 + <tr>
580 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b></b></font><p><font face="Verdana" size="2"><b>Step 21a (SSC-32 / Lynxterm).</b><br>If
581 +you have the SSC-32U (USB connector), please proceed with Step 21b. If
582 +you have the SSC-32 (serial connector), we'll use LynxTerm to test the
583 +servos and confirm that they're all plugged into the proper channels (</font><font face="Verdana" size="2">just as in the Base Assembly Instructions)</font><font face="Verdana" size="2">.
584 +If you have not done so before, download and install <a href="http://www.lynxmotion.com/p-567-free-download-lynxterm.aspx" target="_blank">LynxTerm v1.08</a> or higher. Connect the SSC-32 to
585 +the serial port and apply power. The green LED should light up and stay
586 +on
587 +until it receives a valid serial command. Run the LynxTerm program. If
588 +LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
589 +and USB-to-serial troubleshooting guide</a>.<br>
590 +<br>
591 + </font><font face="Verdana" size="2">
592 +Now test the servos and connections by selecting a channel, and moving
593 +the servo carefully using the slider bar. Verify that the servos are
594 +plugged into the channels as listed in Table 20. Easy does it; this is
595 +real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
596 +
597 +
598 + </p>
599 + <p><font face="Verdana" size="2"><b><br>
600 + </b></font></p>
601 +
602 + </td>
603 + <td align="left" valign="top" width="50%">
604 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/lterm01.jpg" border="2" height="243" hspace="10" width="320"><br>
605 +Figure 21a (Lynxterm).</font></p>
606 + </td>
607 + </tr>
608 + <tr>
609 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
610 + </tr>
611 + <tr>
612 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
613 +21b (SSC-32U / Servo Utility).<br>
614 + </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
615 +Sequencer Utility to test the servos and confirm they are all plugged
616 +into their proper servo channels and oriented correctly. If not done so
617 +before, download and install the <a href="http://www.lynxmotion.com/p-895-free-download-ssc-32-servo-sequencer-utility-created-using-flowbotics-studio.aspx" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect the USB
618 +cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
619 +the program.<br>
620 + <br>
621 +The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
622 +towards the bottom right of the window is set to 9600 (not 115200). The
623 +software should automatically detect which COM port is connected to the
624 +SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
625 +(USB to serial) drivers</a> automatically.<br>
626 +<br>Ensure Servos 0 4 are checked off in the software (and therefore
627 +accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
628 +plugged into the channels as listed in Table 21. Easy does it; this is
629 +real time control, so be careful.<br>
630 +<br>
631 +For more information, please consult the </font><a href="http://www.flowbotics.com/manuals/ssc-32_servo_sequencer.pdf" target="_blank">SSC-32 Servo Sequencer Utility manual</a><font face="Verdana" size="2">. </font><br>
632 +
633 + <br>
634 + <font face="Verdana" size="2"> </font></td>
635 + <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/RB-Dsp-07.jpg" border="2" height="240" hspace="10" width="320"><br>
636 +
637 + <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
638 + </tr>
639 + <tr>
640 + <td style="vertical-align: top;"><br>
641 + </td>
642 + <td style="vertical-align: top; text-align: center;"><br>
643 + </td>
644 + </tr>
645 +<tr>
646 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
647 +Click on the "All = 1500" button in LynxTerm. This will command the
648 +servos to hold center position. Your arm should look like Figure 22. If
649 +any joint is off by more than 15°, then you may have made an error in
650 +assembly.<br>
651 +<br>
652 + </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
653 +
654 +
655 +
656 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/lterm02.jpg" border="2" height="120" hspace="10" width="320"></font></p>
657 +
658 +</td>
659 + <td align="left" valign="top" width="50%">
660 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a22.jpg" border="2" height="240" hspace="10" width="320"><br>
661 +Figure 22.</font></p>
662 + </td>
663 + </tr>
664 + <tr>
665 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
666 + </td>
667 + </tr>
668 + <tr>
669 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
670 +Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
671 +A knob next to each servo will appear (figure 22b). This knob is used
672 +to fine tune the servo's center position. The knob is not intended to
673 +be rotated: click the knob you wish to rotate, keeping the mouse button
674 +down, and drag up and down to rotate the knob. Do this for each servo
675 +until the arm looks like figure 22, and angles are 90 and 180 degrees.
676 +If
677 +any joint is off by more than 15°, then you may have made an error in
678 +assembly.<br>
679 + <br>
680 +Once all servos have been properly positioned, click the icon
681 +"Calibrate" once again, and the offset values will be stored on the
682 +SSC-32 / SSC-32U.<br>
683 +<br>
684 +If you did not purchase the RIOS software, please proceed to step 27.</font></td>
685 + <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/ssc-32-utility-calibrate.jpg" border="2"><br>
686 +<font face="Verdana" size="2">
687 +Figure 22b (SSC-32 Utility).</font></td>
688 + </tr>
689 + <tr>
690 + <td style="vertical-align: top;"><br>
691 + </td>
692 + <td style="vertical-align: top;"><br>
693 + </td>
694 + </tr>
695 +<tr>
696 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 23</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.<br>
697 + </b>To use the RIOS Arm control software, you need to make one
698 +minor modification. Remove the servo horn screw from the elbow servo.
699 +Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
700 +the elbow and reattach the servo horn and screw. Note, the Hitec spline
701 +has 24 grooves, so each groove is 15°.</font></td>
702 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a18.jpg" border="2" height="240" width="320"><br>
703 +Figure 23.</font></td>
704 + </tr>
705 + <tr>
706 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
707 + </tr>
708 + <tr>
709 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
710 +At this point the arms is assembled and tested using LynxTerm. If your
711 +robot came with RIOS, we can now install RIOS and calibrate the arm to
712 +the software. For those using a different program such as FlowBotics or
713 +FlowStone, refer to the software's user guide. Use the RIOS Help File
714 +to calibrate and use the arm.</font>
715 + <p><font face="Verdana" size="2">Install RIOS, following the
716 +on-screen installation prompts. The serial number is on the back of the
717 +CD sleeve.</font></p>
718 + <p><font face="Verdana" size="2">Use the RIOS Help File to
719 +calibrate and use the arm, following Steps 1-7. When you get to Step 8
720 +in the help file, please use the following instructions instead. Click
721 +on the "Arm" button, then click on the "Arm" button in the "Arm size"
722 +section, and then click on the AL5A arm image on the popup screen.</font></p>
723 + <p><font face="Verdana" size="2">Please take the time to do an
724 +accurate calibration. The performance of the arm will only be as good
725 +as the calibration. If the on screen virtual arm does not match the
726 +real arm this is a sign of an inaccurate calibration. After calibration
727 +please study the RIOS manual carefully to learn how to store and
728 +playback sequences for the arm.</font></p>
729 + </td>
730 + <td align="left" valign="top" width="50%">
731 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/rios03.jpg" border="2" height="240" hspace="10" width="320"></font><br>
732 + <font face="Verdana" size="2">
733 +Figure 24 (RIOS).</font></p>
734 + </td>
735 + </tr>
736 + <tr>
737 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
738 + </tr>
739 + <tr>
740 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 25</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.</b><br>
741 +To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
742 + <td align="left" valign="top" width="50%">
743 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/rios04.jpg" border="2" height="240" hspace="10" width="320"></font><br>
744 + <font face="Verdana" size="2">
745 +Figure 25 (RIOS).</font></p>
746 + </td>
747 + </tr>
748 + <tr>
749 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
750 + </td>
751 + </tr>
752 + <tr>
753 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 26</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.</b><br>
754 +Select the Shoulder, servo #2. Move the shoulder slider up to move the
755 +shoulder forward so that it looks like Figure 27-2. Set the Min Deg
756 +angle -90°. Right click on the slider to set this as the Min Position.
757 +Now the servo will not go past this value, and the program now knows
758 +this value is exactly 90° from centered.</font>
759 + <p><font face="Verdana" size="2">Now move the slider down to move
760 +the shoulder backward so that it looks like Figure 27-3. Set the Max
761 +Deg angle to 45°. Right click on the slider to set this as the Max
762 +Position. Now the servo will not go past this value, and the program
763 +now knows this value is exactly 45° from centered.</font></p>
764 + <p><font face="Verdana" size="2">The next step is to read and
765 +study the RIOS users guide. It is accessible by clicking on the help
766 +icon on the main screen or by navigating to the install directory
767 +(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
768 +manual explains in great detail how to use the arm.</font></p>
769 +
770 + </td>
771 + <td align="left" valign="top" width="50%">
772 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/rios01.jpg" border="2" height="240" hspace="10" width="321"><br>
773 +
774 +Figure 26-1 (RIOS).</font></p>
775 + </td>
776 + </tr>
777 + <tr>
778 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
779 + </tr>
780 + <tr>
781 + <td align="left" valign="top" width="50%">
782 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5_90.jpg" border="2" height="240" hspace="10" width="320"><br>
783 +Figure 26-2.</font></p>
784 + </td>
785 + <td align="left" valign="top" width="50%">
786 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5_45.jpg" border="2" height="240" hspace="10" width="320"><br>
787 +Figure 26-3.</font></p>
788 + </td>
789 + </tr>
790 + <tr>
791 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
792 + </tr>
793 + <tr>
794 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br>
795 + </b>To connect springs for load-balancing, replace the servo
796 +attachment hardware in the locations shown, following the diagrams
797 +below. Hook the springs together after they're secured.</font>
798 + <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/spr03.gif" border="2" height="96" width="320"></p>
799 + <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/spr02.gif" border="2" height="96" width="320"></p>
800 + </td>
801 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a19.jpg" border="2" height="240" width="320"><br>
802 +Figure 27.</font></td>
803 + </tr>
804 + <tr>
805 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
806 + </td>
807 + </tr>
808 + <tr>
809 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br>
810 + </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
811 +but the servos can be damaged by improper use. An example would be if
812 +the arm was told to move to an unobtainable position, like the surface
813 +the arm is mounted to, or by crashing the arm into itself, or other
814 +objects. The elbow servo is the most vulnerable because it holds the
815 +entire weight of the forearm. Load balancing springs should be added to
816 +reduce some of this load.<br>
817 + <br>
818 + </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
819 +FlowStone or FlowArm, you can proceed with the instruction guide(s)
820 +associated with those programs.</font><br>
821 +
822 +
823 + <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
824 +like holding heavy objects with their arms outstretched in front of
825 +them. Servo based robot arms don't like it much either. Remember, the
826 +most important rule for servo based robot arms: Park the arm when not
827 +in motion! When it's moving or at rest it's usually ok. When it's
828 +holding an object it should do so for the minimum amount of time
829 +required to do the job. You can always touch the servo case to see if
830 +it's getting hot.</b> </font> </p>
831 + </td>
832 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br>
833 +</font></td>
834 + </tr>
835 + </tbody>
836 +</table>
837 +
838 +</body></html>
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