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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 +
7 + <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
8 + </font></b></p>
2 2  
10 +
11 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
12 +protection and never touch a powered robot!</font></p>
13 +
14 +
15 + <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
16 +the SSC-32 or the SSC-32U servo controller. Take note of which version you have
17 +and follow each step accordingly, as the connections and configuration
18 +are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
19 + <ul>
20 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
21 + <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
22 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
23 + <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
24 + </ul>
25 +
26 +
27 +
28 + <p><font face="Verdana" size="2">Note: Loctite / thread lock
29 +can be used on the construction of the aluminum components, though it
30 +is not necessary if the nuts are properly tightened. However,
31 +don't use them with Lexan or plastic, as they are not necessary and may
32 +cause
33 +damage.</font></p>
34 +</td>
35 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a20.jpg" border="2" height="240" hspace="10" width="320"><br>
36 + <b>Image of complete arm (SSC-32 Shown).</b></font></td>
37 + </tr>
38 + <tr>
39 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
40 + </tr>
41 + <tr>
42 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Lexan Preparation.<br>
43 + </b>The lexan pieces have a protective covering that needs to be
44 +removed before assembly. When the laser cuts, the covering melts into
45 +the cut edge which can make removal difficult. If you gently scrape the
46 +cut edge with a flat blade screwdriver, the covering can easily be
47 +lifted and peeled off.</font>
48 + <p><font face="Verdana" size="2">On smaller pieces the coverings
49 +can be more difficult to remove. If you have trouble you can gently
50 +scrape the cut edge, then use duct tape to lift the covering off.</font></p>
51 + <p><font face="Verdana" size="2">For further information on
52 +lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
53 +page</a>.</font></p>
54 + </td>
55 + <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>
56 +Lexan Preparation.</font></td>
57 + </tr>
58 + <tr>
59 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
60 + </tr>
61 + <tr>
62 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br>
63 +Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
64 +x 1/4" screws and 2-56 nuts.<br>
65 + <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
66 + <table border="0" width="100%">
67 + <tbody>
68 + <tr>
69 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
70 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
71 + </tr>
72 + <tr>
73 + <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>
74 + <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>
75 + </tr>
76 + </tbody>
77 + </table>
78 + </font></td>
79 + <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>
80 +Figure 1.</font></td>
81 + </tr>
82 + <tr>
83 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
84 + </td>
85 + </tr>
86 + <tr>
87 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br>
88 + </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
89 +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
90 +removed from the Lexan parts.</font><font face="Verdana" size="2">
91 +Press down when screwing to ensure there is no gap between the Lexan
92 +and the aluminum, as the screw will be threading the Lexan. </font><br>
93 +
94 + <p align="center"><font face="Verdana"><img src="./AL5A Arm SSC-32U_files/arm02.GIF" border="2" height="96" width="320"></font></p>
95 + </td>
96 + <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>
97 +Figure 2.</font></td>
98 + </tr>
99 + <tr>
100 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
101 + </tr>
102 + <tr>
103 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br>
104 + </b>Insert the 4-40 x .5" Phillips head screw through the hole in
105 +the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
106 +&nbsp;</font>
107 + <table border="0" width="100%">
108 + <tbody>
109 + <tr>
110 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
111 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
112 + </tr>
113 + <tr>
114 + <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>
115 + <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>
116 + </tr>
117 + </tbody>
118 + </table>
119 + </td>
120 + <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>
121 +Figure 3.</font></td>
122 + </tr>
123 + <tr>
124 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
125 + </tr>
126 + <tr>
127 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br>
128 + </b>Slide the large "C" bracket end of the bracket assembly over
129 +the screw as shown, and secure with a nylon insert lock nut. The amount
130 +of friction can be adjusted by tightening or loosening the lock nut.
131 +Start with the nut loose, and if the arm seems to wobble a bit, you can
132 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
133 +- don't over-tighten this! If the arm is operated with the mechanical
134 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
135 +&nbsp;</font>
136 + <table border="0" width="100%">
137 + <tbody>
138 + <tr>
139 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
140 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
141 + </tr>
142 + <tr>
143 + <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>
144 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
145 + </tr>
146 + </tbody>
147 + </table>
148 + </td>
149 + <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>
150 +Figure 4.</font></td>
151 + </tr>
152 + <tr>
153 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
154 + </td>
155 + </tr>
156 + <tr>
157 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
158 +5.<br>
159 + </b>Figure 5 shows a typical mega-size servo with its default
160 +servo horn at center position. You will need to replace this black
161 +servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
162 +
163 + <p><font face="Verdana" size="2">Remove
164 +the servo horn screw,
165 +being careful to not rotate the servo horn itself. Pull the servo horn
166 +off, then press the nylon servo horn in place, as close to the
167 +alignment shown as possible. Replace the servo horn screw. Make sure
168 +your large servo looks like figure 5. The arrows in the image point to
169 +the screw holes you will
170 +use.</font></p>
171 + </td>
172 + <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>
173 + <font face="Verdana" size="2">Figure 5.</font></td>
174 + </tr>
175 + <tr>
176 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
177 + </tr>
178 + <tr>
179 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br>
180 + </b>Attach the HS-755HB servo to the base bracket as shown using
181 +the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
182 +screws to secure the bracket to the servo horn. Route the shoulder
183 +servo wires underneath the servo. Plug the servo into channel 1 on the
184 +SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
185 +take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
186 +&nbsp;</font>
187 + <table border="0" width="100%">
188 + <tbody>
189 + <tr>
190 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
191 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
192 + </tr>
193 + <tr>
194 + <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>
195 + <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>
196 + </tr>
197 + <tr>
198 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
199 + </tr>
200 + <tr>
201 + <td colspan="2" width="100%">
202 + <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>
203 + </td>
204 + </tr>
205 + </tbody>
206 + </table>
207 + </td>
208 + <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>
209 +Figure 6.</font></td>
210 + </tr>
211 + <tr>
212 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
213 + </td>
214 + </tr>
215 + <tr>
216 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br>
217 + </b>Attach two of the tubing connector hubs to the short side of
218 +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
219 +the tube will line up as in figure 8.</font><br>
220 + <font face="Verdana, Helvetica, sans-serif" size="2">
221 +&nbsp;</font>
222 + <table border="0" width="100%">
223 + <tbody>
224 + <tr>
225 + <td width="50%"><font face="Verdana" size="2"><b>4 x (two each)<br>
226 +</b></font></td>
227 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
228 + </tr>
229 + <tr>
230 + <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>
231 + <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>
232 + </tr>
233 + </tbody>
234 + </table>
235 + </td>
236 + <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>
237 +Figure 7.</font></td>
238 + </tr>
239 + <tr>
240 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
241 + </tr>
242 + <tr>
243 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br>
244 + </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
245 +screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
246 +&nbsp;</font>
247 + <table border="0" width="100%">
248 + <tbody>
249 + <tr>
250 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
251 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
252 + </tr>
253 + <tr>
254 + <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>
255 + <td width="50%"><font face="Verdana" size="2">&nbsp;</font></td>
256 + </tr>
257 + </tbody>
258 + </table>
259 + </td>
260 + <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>
261 +Figure 8.</font></td>
262 + </tr>
263 + <tr>
264 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
265 + </tr>
266 + <tr>
267 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br>
268 + </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
269 +shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
270 +&nbsp;</font>
271 + <table border="0" width="100%">
272 + <tbody>
273 + <tr>
274 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
275 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
276 + </tr>
277 + <tr>
278 + <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>
279 + <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>
280 + </tr>
281 + </tbody>
282 + </table>
283 + </td>
284 + <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>
285 +Figure 9.</font></td>
286 + </tr>
287 + <tr>
288 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
289 + </td>
290 + </tr>
291 + <tr>
292 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br>
293 +Insert the 4-40 x .5" Phillips head screw through the hole in the
294 +multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
295 +&nbsp;</font>
296 + <table border="0" width="100%">
297 + <tbody>
298 + <tr>
299 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
300 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
301 + </tr>
302 + <tr>
303 + <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>
304 + <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>
305 + </tr>
306 + </tbody>
307 + </table>
308 + </td>
309 + <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>
310 +Figure 10.</font></td>
311 + </tr>
312 + <tr>
313 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
314 + </tr>
315 + <tr>
316 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br>
317 + </b>Slide the screw on the forearm assembly through the dampening
318 +discs as shown, and secure with a nylon insert lock nut. The amount of
319 +friction can be adjusted by tightening or loosening the lock nut. Start
320 +with the nut loose, and if the arm seems to wobble a bit, you can
321 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
322 +- don't over-tighten this! If the arm is operated with the mechanical
323 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
324 +&nbsp;</font>
325 + <table border="0" width="100%">
326 + <tbody>
327 + <tr>
328 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
329 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
330 + </tr>
331 + <tr>
332 + <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>
333 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
334 + </tr>
335 + </tbody>
336 + </table>
337 + </td>
338 + <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>
339 +Figure 11.</font></td>
340 + </tr>
341 + <tr>
342 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
343 + </tr>
344 + <tr>
345 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
346 +12.<br>
347 + </b>Figure 12 illustrates a typical standard-size servo with its
348 +output horn (the round white part) at center position. Make sure your
349 +servo looks like the image. The arrows in the image point to the screw
350 +holes you will use.</font></td>
351 + <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>
352 + <font face="Verdana" size="2">Figure 12.</font></td>
353 + </tr>
354 + <tr>
355 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
356 + </td>
357 + </tr>
358 + <tr>
359 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br>
360 +Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
361 +hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
362 +secure the bracket to the servo horn. Route the shoulder servo wires
363 +over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
364 +&nbsp;</font>
365 + <table border="0" width="100%">
366 + <tbody>
367 + <tr>
368 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
369 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
370 + </tr>
371 + <tr>
372 + <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>
373 + <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>
374 + </tr>
375 + <tr>
376 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
377 + </tr>
378 + <tr>
379 + <td colspan="2" width="100%">
380 + <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>
381 + </td>
382 + </tr>
383 + </tbody>
384 + </table>
385 + </td>
386 + <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>
387 +Figure 13.</font></td>
388 + </tr>
389 + <tr>
390 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
391 + </tr>
392 + <tr>
393 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br>
394 + </b>Attach the Little Gripper connector to the Short "C" bracket
395 +using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
396 +&nbsp;</font>
397 + <table border="0" width="100%">
398 + <tbody>
399 + <tr>
400 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
401 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
402 + </tr>
403 + <tr>
404 + <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>
405 + <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>
406 + </tr>
407 + </tbody>
408 + </table>
409 + </td>
410 + <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>
411 +Figure 14.</font></td>
412 + </tr>
413 + <tr>
414 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
415 + </td>
416 + </tr>
417 + <tr>
418 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br>
419 + </b>Attach the short "C" bracket to the other Multi-purpose
420 +bracket as shown.</font>
421 + <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>
422 +Figure 15-1.</font></p>
423 + </td>
424 + <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>
425 +Figure 15-2.</font></td>
426 + </tr>
427 + <tr>
428 + <td colspan="2" align="left" valign="top" width="100%">&nbsp;</td>
429 + </tr>
430 + <tr>
431 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br>
432 + </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
433 +diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
434 +to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
435 +&nbsp;</font>
436 + <table border="0" width="100%">
437 + <tbody>
438 + <tr>
439 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
440 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
441 + </tr>
442 + <tr>
443 + <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>
444 + <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>
445 + </tr>
446 + <tr>
447 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
448 + </tr>
449 + <tr>
450 + <td colspan="2" width="100%">
451 + <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>
452 + </td>
453 + </tr>
454 + </tbody>
455 + </table>
456 + </td>
457 + <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>
458 +Figure 16.</font></td>
459 + </tr>
460 + <tr>
461 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
462 + </td>
463 + </tr>
464 + <tr>
465 + <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br>
466 + </b>Attach the Little Grip to the Lexan as shown, using three
467 +4-40 x .375" button head screws and acorn locking nuts. Only three
468 +screws are used (shown in the image) as the body of the gripper servo
469 +is in the way for the fourth.</font>
470 + <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
471 +may be substituted) servo is aligned to mid-position, and the gripper
472 +is halfway open. Now the servo and gripper will be aligned correctly.
473 +Remove the servo screw and horn. Slide the servo into the gripper from
474 +the bottom. You may need to wiggle it a bit to get it seated properly.
475 +Use the servo screw to attach the servo. Tighten this down, but then
476 +unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
477 +&nbsp;</font> </p>
478 + <table border="0" width="100%">
479 + <tbody>
480 + <tr>
481 + <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
482 +</b></font></td>
483 + <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
484 + </b></font></td>
485 + </tr>
486 + <tr>
487 + <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>
488 + <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>
489 + </tr>
490 + </tbody>
491 + </table>&nbsp;
492 +<p><font face="Verdana" size="2"><b>Step 18.</b><br>
493 +Add 6" servo extender cables to the wrist and gripper servos.</font></p>
494 + </td>
495 + <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>
496 +Figure 17.<br>
497 +&nbsp;</font></td>
498 + </tr>
499 + <tr>
500 + <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>
501 +Figure 18.</font></td>
502 + </tr>
503 + <tr>
504 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
505 + </tr>
506 + <tr>
507 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br>
508 + </b>Carefully bend the wrist servo back as far as it will go, and
509 +use wire ties to secure the servo cables as shown. Make sure to leave
510 +slack in the gripper servo cable, don't pull it too tight.</font></td>
511 + <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>
512 +Figure 19.</font></td>
513 + </tr>
514 + <tr>
515 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
516 + </td>
517 + </tr>
518 + <tr>
519 + <td align="left" valign="top" width="50%">
520 + <p><font face="Verdana" size="2"><b>Step 20.<br>
521 + </b>Carefully stretch the arm forward as far as it will go, and
522 +use wire ties to secure the servo cables as shown. Make sure to leave
523 +slack in the cables, don't pull them too tight. Plug the servos in
524 +according to Table 20.</font></p>
525 + <div align="center">
526 + <center>
527 + <table border="1" bordercolor="#ffffff" width="320">
528 + <tbody>
529 + <tr>
530 + <td width="100%">
531 + <div align="center">
532 + <table border="1" bordercolor="#000000" width="320">
533 + <tbody>
534 + <tr>
535 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
536 +I/O</b></font></td>
537 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
538 + </tr>
539 + <tr>
540 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
541 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
542 + </tr>
543 + <tr>
544 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
545 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
546 + </tr>
547 + <tr>
548 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
549 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
550 + </tr>
551 + <tr>
552 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
553 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
554 + </tr>
555 + <tr>
556 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
557 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
558 + </tr>
559 + <tr>
560 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
561 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
562 +Rotate (Optional)</font></td>
563 + </tr>
564 + </tbody>
565 + </table>
566 + </div>
567 + </td>
568 + </tr>
569 + <tr>
570 + <td bordercolor="#FFFFFF">
571 + <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
572 + </td>
573 + </tr>
574 + </tbody>
575 + </table>
576 + </center>
577 + </div>
578 + </td>
579 + <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>
580 +Figure 20.</font></td>
581 + </tr>
582 + <tr>
583 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
584 + </tr>
585 + <tr>
586 + <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
587 +you have the SSC-32U (USB connector), please proceed with Step 21b. If
588 +you have the SSC-32 (serial connector), we'll use LynxTerm to test the
589 +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">.
590 +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
591 +the serial port and apply power. The green LED should light up and stay
592 +on
593 +until it receives a valid serial command. Run the LynxTerm program. If
594 +LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
595 +and USB-to-serial troubleshooting guide</a>.<br>
596 +<br>
597 + </font><font face="Verdana" size="2">
598 +Now test the servos and connections by selecting a channel, and moving
599 +the servo carefully using the slider bar. Verify that the servos are
600 +plugged into the channels as listed in Table 20. Easy does it; this is
601 +real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
602 +
603 +
604 + </p>
605 + <p><font face="Verdana" size="2"><b><br>
606 + </b></font></p>
607 +
608 + </td>
609 + <td align="left" valign="top" width="50%">
610 + <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>
611 +Figure 21a (Lynxterm).</font></p>
612 + </td>
613 + </tr>
614 + <tr>
615 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
616 + </tr>
617 + <tr>
618 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
619 +21b (SSC-32U / Servo Utility).<br>
620 + </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
621 +Sequencer Utility to test the servos and confirm they are all plugged
622 +into their proper servo channels and oriented correctly. If not done so
623 +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
624 +cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
625 +the program.<br>
626 + <br>
627 +The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
628 +towards the bottom right of the window is set to 9600 (not 115200). The
629 +software should automatically detect which COM port is connected to the
630 +SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
631 +(USB to serial) drivers</a> automatically.<br>
632 +<br>Ensure Servos 0 4 are checked off in the software (and therefore
633 +accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
634 +plugged into the channels as listed in Table 21. Easy does it; this is
635 +real time control, so be careful.<br>
636 +<br>
637 +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>
638 +
639 + <br>
640 + <font face="Verdana" size="2"> </font></td>
641 + <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>
642 +
643 + <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
644 + </tr>
645 + <tr>
646 + <td style="vertical-align: top;"><br>
647 + </td>
648 + <td style="vertical-align: top; text-align: center;"><br>
649 + </td>
650 + </tr>
651 +<tr>
652 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
653 +Click on the "All = 1500" button in LynxTerm. This will command the
654 +servos to hold center position. Your arm should look like Figure 22. If
655 +any joint is off by more than 15°, then you may have made an error in
656 +assembly.<br>
657 +<br>
658 + </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
659 +
660 +
661 +
662 + <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>
663 +
664 +</td>
665 + <td align="left" valign="top" width="50%">
666 + <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>
667 +Figure 22.</font></p>
668 + </td>
669 + </tr>
670 + <tr>
671 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
672 + </td>
673 + </tr>
674 + <tr>
675 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
676 +Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
677 +A knob next to each servo will appear (figure 22b). This knob is used
678 +to fine tune the servo's center position. The knob is not intended to
679 +be rotated: click the knob you wish to rotate, keeping the mouse button
680 +down, and drag up and down to rotate the knob. Do this for each servo
681 +until the arm looks like figure 22, and angles are 90 and 180 degrees.
682 +If
683 +any joint is off by more than 15°, then you may have made an error in
684 +assembly.<br>
685 + <br>
686 +Once all servos have been properly positioned, click the icon
687 +"Calibrate" once again, and the offset values will be stored on the
688 +SSC-32 / SSC-32U.<br>
689 +<br>
690 +If you did not purchase the RIOS software, please proceed to step 27.</font></td>
691 + <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>
692 +<font face="Verdana" size="2">
693 +Figure 22b (SSC-32 Utility).</font></td>
694 + </tr>
695 + <tr>
696 + <td style="vertical-align: top;"><br>
697 + </td>
698 + <td style="vertical-align: top;"><br>
699 + </td>
700 + </tr>
701 +<tr>
702 + <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>
703 + </b>To use the RIOS Arm control software, you need to make one
704 +minor modification. Remove the servo horn screw from the elbow servo.
705 +Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
706 +the elbow and reattach the servo horn and screw. Note, the Hitec spline
707 +has 24 grooves, so each groove is 15°.</font></td>
708 + <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>
709 +Figure 23.</font></td>
710 + </tr>
711 + <tr>
712 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
713 + </tr>
714 + <tr>
715 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
716 +At this point the arms is assembled and tested using LynxTerm. If your
717 +robot came with RIOS, we can now install RIOS and calibrate the arm to
718 +the software. For those using a different program such as FlowBotics or
719 +FlowStone, refer to the software's user guide. Use the RIOS Help File
720 +to calibrate and use the arm.</font>
721 + <p><font face="Verdana" size="2">Install RIOS, following the
722 +on-screen installation prompts. The serial number is on the back of the
723 +CD sleeve.</font></p>
724 + <p><font face="Verdana" size="2">Use the RIOS Help File to
725 +calibrate and use the arm, following Steps 1-7. When you get to Step 8
726 +in the help file, please use the following instructions instead. Click
727 +on the "Arm" button, then click on the "Arm" button in the "Arm size"
728 +section, and then click on the AL5A arm image on the popup screen.</font></p>
729 + <p><font face="Verdana" size="2">Please take the time to do an
730 +accurate calibration. The performance of the arm will only be as good
731 +as the calibration. If the on screen virtual arm does not match the
732 +real arm this is a sign of an inaccurate calibration. After calibration
733 +please study the RIOS manual carefully to learn how to store and
734 +playback sequences for the arm.</font></p>
735 + </td>
736 + <td align="left" valign="top" width="50%">
737 + <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>
738 + <font face="Verdana" size="2">
739 +Figure 24 (RIOS).</font></p>
740 + </td>
741 + </tr>
742 + <tr>
743 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
744 + </tr>
745 + <tr>
746 + <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>
747 +To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
748 + <td align="left" valign="top" width="50%">
749 + <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>
750 + <font face="Verdana" size="2">
751 +Figure 25 (RIOS).</font></p>
752 + </td>
753 + </tr>
754 + <tr>
755 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
756 + </td>
757 + </tr>
758 + <tr>
759 + <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>
760 +Select the Shoulder, servo #2. Move the shoulder slider up to move the
761 +shoulder forward so that it looks like Figure 27-2. Set the Min Deg
762 +angle -90°. Right click on the slider to set this as the Min Position.
763 +Now the servo will not go past this value, and the program now knows
764 +this value is exactly 90° from centered.</font>
765 + <p><font face="Verdana" size="2">Now move the slider down to move
766 +the shoulder backward so that it looks like Figure 27-3. Set the Max
767 +Deg angle to 45°. Right click on the slider to set this as the Max
768 +Position. Now the servo will not go past this value, and the program
769 +now knows this value is exactly 45° from centered.</font></p>
770 + <p><font face="Verdana" size="2">The next step is to read and
771 +study the RIOS users guide. It is accessible by clicking on the help
772 +icon on the main screen or by navigating to the install directory
773 +(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
774 +manual explains in great detail how to use the arm.</font></p>
775 +
776 + </td>
777 + <td align="left" valign="top" width="50%">
778 + <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>
779 +
780 +Figure 26-1 (RIOS).</font></p>
781 + </td>
782 + </tr>
783 + <tr>
784 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
785 + </tr>
786 + <tr>
787 + <td align="left" valign="top" width="50%">
788 + <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>
789 +Figure 26-2.</font></p>
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/al5_45.jpg" border="2" height="240" hspace="10" width="320"><br>
793 +Figure 26-3.</font></p>
794 + </td>
795 + </tr>
796 + <tr>
797 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
798 + </tr>
799 + <tr>
800 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br>
801 + </b>To connect springs for load-balancing, replace the servo
802 +attachment hardware in the locations shown, following the diagrams
803 +below. Hook the springs together after they're secured.</font>
804 + <p align="center"><img src="./AL5A Arm SSC-32U_files/spr03.gif" border="2" height="96" width="320"></p>
805 + <p align="center"><img src="./AL5A Arm SSC-32U_files/spr02.gif" border="2" height="96" width="320"></p>
806 + </td>
807 + <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>
808 +Figure 27.</font></td>
809 + </tr>
810 + <tr>
811 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
812 + </td>
813 + </tr>
814 + <tr>
815 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br>
816 + </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
817 +but the servos can be damaged by improper use. An example would be if
818 +the arm was told to move to an unobtainable position, like the surface
819 +the arm is mounted to, or by crashing the arm into itself, or other
820 +objects. The elbow servo is the most vulnerable because it holds the
821 +entire weight of the forearm. Load balancing springs should be added to
822 +reduce some of this load.<br>
823 + <br>
824 + </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
825 +FlowStone or FlowArm, you can proceed with the instruction guide(s)
826 +associated with those programs.</font><br>
827 +
828 +
829 + <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
830 +like holding heavy objects with their arms outstretched in front of
831 +them. Servo based robot arms don't like it much either. Remember, the
832 +most important rule for servo based robot arms: Park the arm when not
833 +in motion! When it's moving or at rest it's usually ok. When it's
834 +holding an object it should do so for the minimum amount of time
835 +required to do the job. You can always touch the servo case to see if
836 +it's getting hot.</b> </font> </p>
837 + </td>
838 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br>
839 +</font></td>
840 + </tr>
841 + </tbody>
842 +</table>
843 +
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