Last modified by Eric Nantel on 2024/07/03 09:20
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15 +<table style="width: 1609px; height: 10472px;" border="0" cellpadding="0" cellspacing="0">
16 +
17 + <tbody>
18 + <tr>
19 + <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>
20 +
21 + <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
22 + </font></b></p>
23 +
24 +
25 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
26 +protection and never touch a powered robot!</font></p>
27 +
28 +
29 + <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
30 +the SSC-32 or the SSC-32U servo controller. Take note of which version you have
31 +and follow each step accordingly, as the connections and configuration
32 +are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
33 + <ul>
34 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
35 + <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
36 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
37 + <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
38 + </ul>
39 +
40 +
41 +
42 + <p><font face="Verdana" size="2">Note: Loctite / thread lock
43 +can be used on the construction of the aluminum components, though it
44 +is not necessary if the nuts are properly tightened. However,
45 +don't use them with Lexan or plastic, as they are not necessary and may
46 +cause
47 +damage.</font></p>
48 +</td>
49 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a20.jpg" border="2" height="240" hspace="10" width="320"><br>
50 + <b>Image of complete arm (SSC-32 Shown).</b></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>Lexan Preparation.<br>
57 + </b>The lexan pieces have a protective covering that needs to be
58 +removed before assembly. When the laser cuts, the covering melts into
59 +the cut edge which can make removal difficult. If you gently scrape the
60 +cut edge with a flat blade screwdriver, the covering can easily be
61 +lifted and peeled off.</font>
62 + <p><font face="Verdana" size="2">On smaller pieces the coverings
63 +can be more difficult to remove. If you have trouble you can gently
64 +scrape the cut edge, then use duct tape to lift the covering off.</font></p>
65 + <p><font face="Verdana" size="2">For further information on
66 +lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
67 +page</a>.</font></p>
68 + </td>
69 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/lexan01.jpg" border="2" height="240" hspace="10" width="320"><br>
70 +Lexan Preparation.</font></td>
71 + </tr>
72 + <tr>
73 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
74 + </tr>
75 + <tr>
76 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br>
77 +Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
78 +x 1/4" screws and 2-56 nuts.<br>
79 + <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
80 + <table border="0" width="100%">
81 + <tbody>
82 + <tr>
83 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
84 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
85 + </tr>
86 + <tr>
87 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
88 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
89 + </tr>
90 + </tbody>
91 + </table>
92 + </font></td>
93 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a01.JPG" border="2" height="240" hspace="10" width="320"><br>
94 +Figure 1.</font></td>
95 + </tr>
96 + <tr>
97 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
98 + </td>
99 + </tr>
100 + <tr>
101 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br>
102 + </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
103 +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
104 +removed from the Lexan parts.</font><font face="Verdana" size="2">
105 +Press down when screwing to ensure there is no gap between the Lexan
106 +and the aluminum, as the screw will be threading the Lexan. </font><br>
107 +
108 + <p align="center"><font face="Verdana"><img src="./AL5A Arm SSC-32U_files/arm02.GIF" border="2" height="96" width="320"></font></p>
109 + </td>
110 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a02.jpg" border="2" height="240" hspace="10" width="320"><br>
111 +Figure 2.</font></td>
112 + </tr>
113 + <tr>
114 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
115 + </tr>
116 + <tr>
117 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br>
118 + </b>Insert the 4-40 x .5" Phillips head screw through the hole in
119 +the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
120 +&nbsp;</font>
121 + <table border="0" width="100%">
122 + <tbody>
123 + <tr>
124 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
125 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
126 + </tr>
127 + <tr>
128 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/500phs.gif" border="2" height="96" width="160"></font></td>
129 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440zpn.GIF" border="2" height="96" width="160"></font></td>
130 + </tr>
131 + </tbody>
132 + </table>
133 + </td>
134 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a03.jpg" border="2" height="240" hspace="10" width="320"><br>
135 +Figure 3.</font></td>
136 + </tr>
137 + <tr>
138 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
139 + </tr>
140 + <tr>
141 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br>
142 + </b>Slide the large "C" bracket end of the bracket assembly over
143 +the screw as shown, and secure with a nylon insert lock nut. The amount
144 +of friction can be adjusted by tightening or loosening the lock nut.
145 +Start with the nut loose, and if the arm seems to wobble a bit, you can
146 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
147 +- don't over-tighten this! If the arm is operated with the mechanical
148 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
149 +&nbsp;</font>
150 + <table border="0" width="100%">
151 + <tbody>
152 + <tr>
153 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
154 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
155 + </tr>
156 + <tr>
157 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440niln.gif" border="2" height="96" width="160"></font></td>
158 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
159 + </tr>
160 + </tbody>
161 + </table>
162 + </td>
163 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a04.jpg" border="2" height="240" hspace="10" width="320"><br>
164 +Figure 4.</font></td>
165 + </tr>
166 + <tr>
167 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
168 + </td>
169 + </tr>
170 + <tr>
171 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
172 +5.<br>
173 + </b>Figure 5 shows a typical mega-size servo with its default
174 +servo horn at center position. You will need to replace this black
175 +servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
176 +
177 + <p><font face="Verdana" size="2">Remove
178 +the servo horn screw,
179 +being careful to not rotate the servo horn itself. Pull the servo horn
180 +off, then press the nylon servo horn in place, as close to the
181 +alignment shown as possible. Replace the servo horn screw. Make sure
182 +your large servo looks like figure 5. The arrows in the image point to
183 +the screw holes you will
184 +use.</font></p>
185 + </td>
186 + <td align="center" valign="bottom" width="50%"><img src="./AL5A Arm SSC-32U_files/mservo01.jpg" border="2" height="240" hspace="10" width="320"><br>
187 + <font face="Verdana" size="2">Figure 5.</font></td>
188 + </tr>
189 + <tr>
190 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
191 + </tr>
192 + <tr>
193 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br>
194 + </b>Attach the HS-755HB servo to the base bracket as shown using
195 +the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
196 +screws to secure the bracket to the servo horn. Route the shoulder
197 +servo wires underneath the servo. Plug the servo into channel 1 on the
198 +SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
199 +take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
200 +&nbsp;</font>
201 + <table border="0" width="100%">
202 + <tbody>
203 + <tr>
204 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
205 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
206 + </tr>
207 + <tr>
208 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/2250phts.gif" border="2" height="96" width="160"></font></td>
209 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/holes.gif" border="2" height="96" width="160"></font></td>
210 + </tr>
211 + <tr>
212 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
213 + </tr>
214 + <tr>
215 + <td colspan="2" width="100%">
216 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/brack02.gif" border="2" height="96" width="320"></font></p>
217 + </td>
218 + </tr>
219 + </tbody>
220 + </table>
221 + </td>
222 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a21.jpg" border="2" height="240" hspace="10" width="320"><br>
223 +Figure 6.</font></td>
224 + </tr>
225 + <tr>
226 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
227 + </td>
228 + </tr>
229 + <tr>
230 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br>
231 + </b>Attach two of the tubing connector hubs to the short side of
232 +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
233 +the tube will line up as in figure 8.</font><br>
234 + <font face="Verdana, Helvetica, sans-serif" size="2">
235 +&nbsp;</font>
236 + <table border="0" width="100%">
237 + <tbody>
238 + <tr>
239 + <td width="50%"><font face="Verdana" size="2"><b>4 x (two each)<br>
240 +</b></font></td>
241 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
242 + </tr>
243 + <tr>
244 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
245 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
246 + </tr>
247 + </tbody>
248 + </table>
249 + </td>
250 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a05.jpg" border="2" height="240" hspace="10" width="320"><br>
251 +Figure 7.</font></td>
252 + </tr>
253 + <tr>
254 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
255 + </tr>
256 + <tr>
257 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br>
258 + </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
259 +screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
260 +&nbsp;</font>
261 + <table border="0" width="100%">
262 + <tbody>
263 + <tr>
264 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
265 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
266 + </tr>
267 + <tr>
268 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/4250hscs.GIF" border="2" height="96" width="160"></font></td>
269 + <td width="50%"><font face="Verdana" size="2">&nbsp;</font></td>
270 + </tr>
271 + </tbody>
272 + </table>
273 + </td>
274 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a06.JPG" border="2" height="240" hspace="10" width="320"><br>
275 +Figure 8.</font></td>
276 + </tr>
277 + <tr>
278 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
279 + </tr>
280 + <tr>
281 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br>
282 + </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
283 +shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
284 +&nbsp;</font>
285 + <table border="0" width="100%">
286 + <tbody>
287 + <tr>
288 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
289 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
290 + </tr>
291 + <tr>
292 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
293 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
294 + </tr>
295 + </tbody>
296 + </table>
297 + </td>
298 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a07.jpg" border="2" height="240" hspace="10" width="320"><br>
299 +Figure 9.</font></td>
300 + </tr>
301 + <tr>
302 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
303 + </td>
304 + </tr>
305 + <tr>
306 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br>
307 +Insert the 4-40 x .5" Phillips head screw through the hole in the
308 +multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
309 +&nbsp;</font>
310 + <table border="0" width="100%">
311 + <tbody>
312 + <tr>
313 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
314 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
315 + </tr>
316 + <tr>
317 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440zpn.GIF" border="2" height="96" width="160"></font></td>
318 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/500phs.gif" border="2" height="96" width="160"></font></td>
319 + </tr>
320 + </tbody>
321 + </table>
322 + </td>
323 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a08.jpg" border="2" height="240" hspace="10" width="320"><br>
324 +Figure 10.</font></td>
325 + </tr>
326 + <tr>
327 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
328 + </tr>
329 + <tr>
330 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br>
331 + </b>Slide the screw on the forearm assembly through the dampening
332 +discs as shown, and secure with a nylon insert lock nut. The amount of
333 +friction can be adjusted by tightening or loosening the lock nut. Start
334 +with the nut loose, and if the arm seems to wobble a bit, you can
335 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
336 +- don't over-tighten this! If the arm is operated with the mechanical
337 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
338 +&nbsp;</font>
339 + <table border="0" width="100%">
340 + <tbody>
341 + <tr>
342 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
343 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
344 + </tr>
345 + <tr>
346 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440niln.gif" border="2" height="96" width="160"></font></td>
347 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
348 + </tr>
349 + </tbody>
350 + </table>
351 + </td>
352 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a09.jpg" border="2" height="240" hspace="10" width="320"><br>
353 +Figure 11.</font></td>
354 + </tr>
355 + <tr>
356 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
357 + </tr>
358 + <tr>
359 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
360 +12.<br>
361 + </b>Figure 12 illustrates a typical standard-size servo with its
362 +output horn (the round white part) at center position. Make sure your
363 +servo looks like the image. The arrows in the image point to the screw
364 +holes you will use.</font></td>
365 + <td align="center" valign="bottom" width="50%"><img src="./AL5A Arm SSC-32U_files/servo02.jpg" border="2" height="240" hspace="10" width="320"><br>
366 + <font face="Verdana" size="2">Figure 12.</font></td>
367 + </tr>
368 + <tr>
369 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
370 + </td>
371 + </tr>
372 + <tr>
373 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br>
374 +Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
375 +hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
376 +secure the bracket to the servo horn. Route the shoulder servo wires
377 +over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
378 +&nbsp;</font>
379 + <table border="0" width="100%">
380 + <tbody>
381 + <tr>
382 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
383 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
384 + </tr>
385 + <tr>
386 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/2250phts.gif" border="2" height="96" width="160"></font></td>
387 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/holes.gif" border="2" height="96" width="160"></font></td>
388 + </tr>
389 + <tr>
390 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
391 + </tr>
392 + <tr>
393 + <td colspan="2" width="100%">
394 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/brack02.gif" border="2" height="96" width="320"></font></p>
395 + </td>
396 + </tr>
397 + </tbody>
398 + </table>
399 + </td>
400 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a10.jpg" border="2" height="240" hspace="10" width="320"><br>
401 +Figure 13.</font></td>
402 + </tr>
403 + <tr>
404 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
405 + </tr>
406 + <tr>
407 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br>
408 + </b>Attach the Little Gripper connector to the Short "C" bracket
409 +using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
410 +&nbsp;</font>
411 + <table border="0" width="100%">
412 + <tbody>
413 + <tr>
414 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
415 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
416 + </tr>
417 + <tr>
418 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
419 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
420 + </tr>
421 + </tbody>
422 + </table>
423 + </td>
424 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a11.jpg" border="2" height="240" hspace="10" width="320"><br>
425 +Figure 14.</font></td>
426 + </tr>
427 + <tr>
428 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
429 + </td>
430 + </tr>
431 + <tr>
432 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br>
433 + </b>Attach the short "C" bracket to the other Multi-purpose
434 +bracket as shown.</font>
435 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/ballb02.gif" border="2" height="96" hspace="10" width="320"><br>
436 +Figure 15-1.</font></p>
437 + </td>
438 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a12.jpg" border="2" height="240" hspace="10" width="320"><br>
439 +Figure 15-2.</font></td>
440 + </tr>
441 + <tr>
442 + <td colspan="2" align="left" valign="top" width="100%">&nbsp;</td>
443 + </tr>
444 + <tr>
445 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br>
446 + </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
447 +diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
448 +to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
449 +&nbsp;</font>
450 + <table border="0" width="100%">
451 + <tbody>
452 + <tr>
453 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
454 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
455 + </tr>
456 + <tr>
457 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/2250phts.gif" border="2" height="96" width="160"></font></td>
458 + <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/holes.gif" border="2" height="96" width="160"></font></td>
459 + </tr>
460 + <tr>
461 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
462 + </tr>
463 + <tr>
464 + <td colspan="2" width="100%">
465 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/brack02.gif" border="2" height="96" width="320"></font></p>
466 + </td>
467 + </tr>
468 + </tbody>
469 + </table>
470 + </td>
471 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a13.jpg" border="2" height="240" hspace="10" width="320"><br>
472 +Figure 16.</font></td>
473 + </tr>
474 + <tr>
475 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
476 + </td>
477 + </tr>
478 + <tr>
479 + <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br>
480 + </b>Attach the Little Grip to the Lexan as shown, using three
481 +4-40 x .375" button head screws and acorn locking nuts. Only three
482 +screws are used (shown in the image) as the body of the gripper servo
483 +is in the way for the fourth.</font>
484 + <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
485 +may be substituted) servo is aligned to mid-position, and the gripper
486 +is halfway open. Now the servo and gripper will be aligned correctly.
487 +Remove the servo screw and horn. Slide the servo into the gripper from
488 +the bottom. You may need to wiggle it a bit to get it seated properly.
489 +Use the servo screw to attach the servo. Tighten this down, but then
490 +unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
491 +&nbsp;</font> </p>
492 + <table border="0" width="100%">
493 + <tbody>
494 + <tr>
495 + <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
496 +</b></font></td>
497 + <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
498 + </b></font></td>
499 + </tr>
500 + <tr>
501 + <td width="50%"><font face="Verdana" size="2"><b><img src="./AL5A Arm SSC-32U_files/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
502 + <td width="50%"><font face="Verdana" size="2"><b><img src="./AL5A Arm SSC-32U_files/440nan.GIF" border="2" height="96" width="160"></b></font></td>
503 + </tr>
504 + </tbody>
505 + </table>&nbsp;
506 +<p><font face="Verdana" size="2"><b>Step 18.</b><br>
507 +Add 6" servo extender cables to the wrist and gripper servos.</font></p>
508 + </td>
509 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a14.jpg" border="2" height="240" width="320"><br>
510 +Figure 17.<br>
511 +&nbsp;</font></td>
512 + </tr>
513 + <tr>
514 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a15.jpg" border="2" height="240" width="320"><br>
515 +Figure 18.</font></td>
516 + </tr>
517 + <tr>
518 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
519 + </tr>
520 + <tr>
521 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br>
522 + </b>Carefully bend the wrist servo back as far as it will go, and
523 +use wire ties to secure the servo cables as shown. Make sure to leave
524 +slack in the gripper servo cable, don't pull it too tight.</font></td>
525 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a16.jpg" border="2" height="240" width="320"><br>
526 +Figure 19.</font></td>
527 + </tr>
528 + <tr>
529 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
530 + </td>
531 + </tr>
532 + <tr>
533 + <td align="left" valign="top" width="50%">
534 + <p><font face="Verdana" size="2"><b>Step 20.<br>
535 + </b>Carefully stretch the arm forward as far as it will go, and
536 +use wire ties to secure the servo cables as shown. Make sure to leave
537 +slack in the cables, don't pull them too tight. Plug the servos in
538 +according to Table 20.</font></p>
539 + <div align="center">
540 + <center>
541 + <table border="1" bordercolor="#ffffff" width="320">
542 + <tbody>
543 + <tr>
544 + <td width="100%">
545 + <div align="center">
546 + <table border="1" bordercolor="#000000" width="320">
547 + <tbody>
548 + <tr>
549 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
550 +I/O</b></font></td>
551 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
552 + </tr>
553 + <tr>
554 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
555 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
556 + </tr>
557 + <tr>
558 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
559 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
560 + </tr>
561 + <tr>
562 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
563 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
564 + </tr>
565 + <tr>
566 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
567 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
568 + </tr>
569 + <tr>
570 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
571 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
572 + </tr>
573 + <tr>
574 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
575 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
576 +Rotate (Optional)</font></td>
577 + </tr>
578 + </tbody>
579 + </table>
580 + </div>
581 + </td>
582 + </tr>
583 + <tr>
584 + <td bordercolor="#FFFFFF">
585 + <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
586 + </td>
587 + </tr>
588 + </tbody>
589 + </table>
590 + </center>
591 + </div>
592 + </td>
593 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a17.jpg" border="2" height="240" width="320"><br>
594 +Figure 20.</font></td>
595 + </tr>
596 + <tr>
597 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
598 + </tr>
599 + <tr>
600 + <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
601 +you have the SSC-32U (USB connector), please proceed with Step 21b. If
602 +you have the SSC-32 (serial connector), we'll use LynxTerm to test the
603 +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">.
604 +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
605 +the serial port and apply power. The green LED should light up and stay
606 +on
607 +until it receives a valid serial command. Run the LynxTerm program. If
608 +LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
609 +and USB-to-serial troubleshooting guide</a>.<br>
610 +<br>
611 + </font><font face="Verdana" size="2">
612 +Now test the servos and connections by selecting a channel, and moving
613 +the servo carefully using the slider bar. Verify that the servos are
614 +plugged into the channels as listed in Table 20. Easy does it; this is
615 +real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
616 +
617 +
618 + </p>
619 + <p><font face="Verdana" size="2"><b><br>
620 + </b></font></p>
621 +
622 + </td>
623 + <td align="left" valign="top" width="50%">
624 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/lterm01.jpg" border="2" height="243" hspace="10" width="320"><br>
625 +Figure 21a (Lynxterm).</font></p>
626 + </td>
627 + </tr>
628 + <tr>
629 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
630 + </tr>
631 + <tr>
632 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
633 +21b (SSC-32U / Servo Utility).<br>
634 + </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
635 +Sequencer Utility to test the servos and confirm they are all plugged
636 +into their proper servo channels and oriented correctly. If not done so
637 +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
638 +cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
639 +the program.<br>
640 + <br>
641 +The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
642 +towards the bottom right of the window is set to 9600 (not 115200). The
643 +software should automatically detect which COM port is connected to the
644 +SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
645 +(USB to serial) drivers</a> automatically.<br>
646 +<br>Ensure Servos 0 4 are checked off in the software (and therefore
647 +accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
648 +plugged into the channels as listed in Table 21. Easy does it; this is
649 +real time control, so be careful.<br>
650 +<br>
651 +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>
652 +
653 + <br>
654 + <font face="Verdana" size="2"> </font></td>
655 + <td style="vertical-align: top; text-align: center;"><img src="./AL5A Arm SSC-32U_files/RB-Dsp-07.jpg" border="2" height="240" hspace="10" width="320"><br>
656 +
657 + <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
658 + </tr>
659 + <tr>
660 + <td style="vertical-align: top;"><br>
661 + </td>
662 + <td style="vertical-align: top; text-align: center;"><br>
663 + </td>
664 + </tr>
665 +<tr>
666 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
667 +Click on the "All = 1500" button in LynxTerm. This will command the
668 +servos to hold center position. Your arm should look like Figure 22. If
669 +any joint is off by more than 15°, then you may have made an error in
670 +assembly.<br>
671 +<br>
672 + </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
673 +
674 +
675 +
676 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/lterm02.jpg" border="2" height="120" hspace="10" width="320"></font></p>
677 +
678 +</td>
679 + <td align="left" valign="top" width="50%">
680 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a22.jpg" border="2" height="240" hspace="10" width="320"><br>
681 +Figure 22.</font></p>
682 + </td>
683 + </tr>
684 + <tr>
685 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
686 + </td>
687 + </tr>
688 + <tr>
689 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
690 +Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
691 +A knob next to each servo will appear (figure 22b). This knob is used
692 +to fine tune the servo's center position. The knob is not intended to
693 +be rotated: click the knob you wish to rotate, keeping the mouse button
694 +down, and drag up and down to rotate the knob. Do this for each servo
695 +until the arm looks like figure 22, and angles are 90 and 180 degrees.
696 +If
697 +any joint is off by more than 15°, then you may have made an error in
698 +assembly.<br>
699 + <br>
700 +Once all servos have been properly positioned, click the icon
701 +"Calibrate" once again, and the offset values will be stored on the
702 +SSC-32 / SSC-32U.<br>
703 +<br>
704 +If you did not purchase the RIOS software, please proceed to step 27.</font></td>
705 + <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="" src="./AL5A Arm SSC-32U_files/ssc-32-utility-calibrate.jpg" border="2"><br>
706 +<font face="Verdana" size="2">
707 +Figure 22b (SSC-32 Utility).</font></td>
708 + </tr>
709 + <tr>
710 + <td style="vertical-align: top;"><br>
711 + </td>
712 + <td style="vertical-align: top;"><br>
713 + </td>
714 + </tr>
715 +<tr>
716 + <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>
717 + </b>To use the RIOS Arm control software, you need to make one
718 +minor modification. Remove the servo horn screw from the elbow servo.
719 +Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
720 +the elbow and reattach the servo horn and screw. Note, the Hitec spline
721 +has 24 grooves, so each groove is 15°.</font></td>
722 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a18.jpg" border="2" height="240" width="320"><br>
723 +Figure 23.</font></td>
724 + </tr>
725 + <tr>
726 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
727 + </tr>
728 + <tr>
729 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
730 +At this point the arms is assembled and tested using LynxTerm. If your
731 +robot came with RIOS, we can now install RIOS and calibrate the arm to
732 +the software. For those using a different program such as FlowBotics or
733 +FlowStone, refer to the software's user guide. Use the RIOS Help File
734 +to calibrate and use the arm.</font>
735 + <p><font face="Verdana" size="2">Install RIOS, following the
736 +on-screen installation prompts. The serial number is on the back of the
737 +CD sleeve.</font></p>
738 + <p><font face="Verdana" size="2">Use the RIOS Help File to
739 +calibrate and use the arm, following Steps 1-7. When you get to Step 8
740 +in the help file, please use the following instructions instead. Click
741 +on the "Arm" button, then click on the "Arm" button in the "Arm size"
742 +section, and then click on the AL5A arm image on the popup screen.</font></p>
743 + <p><font face="Verdana" size="2">Please take the time to do an
744 +accurate calibration. The performance of the arm will only be as good
745 +as the calibration. If the on screen virtual arm does not match the
746 +real arm this is a sign of an inaccurate calibration. After calibration
747 +please study the RIOS manual carefully to learn how to store and
748 +playback sequences for the arm.</font></p>
749 + </td>
750 + <td align="left" valign="top" width="50%">
751 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/rios03.jpg" border="2" height="240" hspace="10" width="320"></font><br>
752 + <font face="Verdana" size="2">
753 +Figure 24 (RIOS).</font></p>
754 + </td>
755 + </tr>
756 + <tr>
757 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
758 + </tr>
759 + <tr>
760 + <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>
761 +To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
762 + <td align="left" valign="top" width="50%">
763 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/rios04.jpg" border="2" height="240" hspace="10" width="320"></font><br>
764 + <font face="Verdana" size="2">
765 +Figure 25 (RIOS).</font></p>
766 + </td>
767 + </tr>
768 + <tr>
769 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
770 + </td>
771 + </tr>
772 + <tr>
773 + <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>
774 +Select the Shoulder, servo #2. Move the shoulder slider up to move the
775 +shoulder forward so that it looks like Figure 27-2. Set the Min Deg
776 +angle -90°. Right click on the slider to set this as the Min Position.
777 +Now the servo will not go past this value, and the program now knows
778 +this value is exactly 90° from centered.</font>
779 + <p><font face="Verdana" size="2">Now move the slider down to move
780 +the shoulder backward so that it looks like Figure 27-3. Set the Max
781 +Deg angle to 45°. Right click on the slider to set this as the Max
782 +Position. Now the servo will not go past this value, and the program
783 +now knows this value is exactly 45° from centered.</font></p>
784 + <p><font face="Verdana" size="2">The next step is to read and
785 +study the RIOS users guide. It is accessible by clicking on the help
786 +icon on the main screen or by navigating to the install directory
787 +(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
788 +manual explains in great detail how to use the arm.</font></p>
789 +
790 + </td>
791 + <td align="left" valign="top" width="50%">
792 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/rios01.jpg" border="2" height="240" hspace="10" width="321"><br>
793 +
794 +Figure 26-1 (RIOS).</font></p>
795 + </td>
796 + </tr>
797 + <tr>
798 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
799 + </tr>
800 + <tr>
801 + <td align="left" valign="top" width="50%">
802 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5_90.jpg" border="2" height="240" hspace="10" width="320"><br>
803 +Figure 26-2.</font></p>
804 + </td>
805 + <td align="left" valign="top" width="50%">
806 + <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5_45.jpg" border="2" height="240" hspace="10" width="320"><br>
807 +Figure 26-3.</font></p>
808 + </td>
809 + </tr>
810 + <tr>
811 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
812 + </tr>
813 + <tr>
814 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br>
815 + </b>To connect springs for load-balancing, replace the servo
816 +attachment hardware in the locations shown, following the diagrams
817 +below. Hook the springs together after they're secured.</font>
818 + <p align="center"><img src="./AL5A Arm SSC-32U_files/spr03.gif" border="2" height="96" width="320"></p>
819 + <p align="center"><img src="./AL5A Arm SSC-32U_files/spr02.gif" border="2" height="96" width="320"></p>
820 + </td>
821 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a19.jpg" border="2" height="240" width="320"><br>
822 +Figure 27.</font></td>
823 + </tr>
824 + <tr>
825 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
826 + </td>
827 + </tr>
828 + <tr>
829 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br>
830 + </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
831 +but the servos can be damaged by improper use. An example would be if
832 +the arm was told to move to an unobtainable position, like the surface
833 +the arm is mounted to, or by crashing the arm into itself, or other
834 +objects. The elbow servo is the most vulnerable because it holds the
835 +entire weight of the forearm. Load balancing springs should be added to
836 +reduce some of this load.<br>
837 + <br>
838 + </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
839 +FlowStone or FlowArm, you can proceed with the instruction guide(s)
840 +associated with those programs.</font><br>
841 +
842 +
843 + <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
844 +like holding heavy objects with their arms outstretched in front of
845 +them. Servo based robot arms don't like it much either. Remember, the
846 +most important rule for servo based robot arms: Park the arm when not
847 +in motion! When it's moving or at rest it's usually ok. When it's
848 +holding an object it should do so for the minimum amount of time
849 +required to do the job. You can always touch the servo case to see if
850 +it's getting hot.</b> </font> </p>
851 + </td>
852 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br>
853 +</font></td>
854 + </tr>
855 + </tbody>
856 +</table>
857 +
858 +</body></html>
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