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