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