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1 1  {{html wiki="false" clean="true"}}
2 +<table style="width: 1609px; height: 10472px;" border="0" cellpadding="0" cellspacing="0">
2 2  
4 + <tbody>
5 + <tr>
6 + <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>
7 +
8 + <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
9 + </font></b></p>
10 +
11 +
12 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
13 +protection and never touch a powered robot!</font></p>
14 +
15 +
16 + <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
17 +the SSC-32 or the SSC-32U servo controller. Take note of which version you have
18 +and follow each step accordingly, as the connections and configuration
19 +are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
20 + <ul>
21 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
22 + <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
23 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
24 + <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
25 + </ul>
26 +
27 +
28 +
29 + <p><font face="Verdana" size="2">Note: Loctite / thread lock
30 +can be used on the construction of the aluminum components, though it
31 +is not necessary if the nuts are properly tightened. However,
32 +don't use them with Lexan or plastic, as they are not necessary and may
33 +cause
34 +damage.</font></p>
35 +</td>
36 + <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>
37 + <b>Image of complete arm (SSC-32 Shown).</b></font></td>
38 + </tr>
39 + <tr>
40 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
41 + </tr>
42 + <tr>
43 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Lexan Preparation.<br>
44 + </b>The lexan pieces have a protective covering that needs to be
45 +removed before assembly. When the laser cuts, the covering melts into
46 +the cut edge which can make removal difficult. If you gently scrape the
47 +cut edge with a flat blade screwdriver, the covering can easily be
48 +lifted and peeled off.</font>
49 + <p><font face="Verdana" size="2">On smaller pieces the coverings
50 +can be more difficult to remove. If you have trouble you can gently
51 +scrape the cut edge, then use duct tape to lift the covering off.</font></p>
52 + <p><font face="Verdana" size="2">For further information on
53 +lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
54 +page</a>.</font></p>
55 + </td>
56 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/lexan01.jpg" border="2" height="240" hspace="10" width="320"><br>
57 +Lexan Preparation.</font></td>
58 + </tr>
59 + <tr>
60 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
61 + </tr>
62 + <tr>
63 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br>
64 +Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
65 +x 1/4" screws and 2-56 nuts.<br>
66 + <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
67 + <table border="0" width="100%">
68 + <tbody>
69 + <tr>
70 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
71 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
72 + </tr>
73 + <tr>
74 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
75 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
76 + </tr>
77 + </tbody>
78 + </table>
79 + </font></td>
80 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a01.JPG" border="2" height="240" hspace="10" width="320"><br>
81 +Figure 1.</font></td>
82 + </tr>
83 + <tr>
84 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
85 + </td>
86 + </tr>
87 + <tr>
88 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br>
89 + </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
90 +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
91 +removed from the Lexan parts.</font><font face="Verdana" size="2">
92 +Press down when screwing to ensure there is no gap between the Lexan
93 +and the aluminum, as the screw will be threading the Lexan. </font><br>
94 +
95 + <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>
96 + </td>
97 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a02.jpg" border="2" height="240" hspace="10" width="320"><br>
98 +Figure 2.</font></td>
99 + </tr>
100 + <tr>
101 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
102 + </tr>
103 + <tr>
104 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br>
105 + </b>Insert the 4-40 x .5" Phillips head screw through the hole in
106 +the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
107 +&nbsp;</font>
108 + <table border="0" width="100%">
109 + <tbody>
110 + <tr>
111 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
112 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
113 + </tr>
114 + <tr>
115 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
116 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
117 + </tr>
118 + </tbody>
119 + </table>
120 + </td>
121 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a03.jpg" border="2" height="240" hspace="10" width="320"><br>
122 +Figure 3.</font></td>
123 + </tr>
124 + <tr>
125 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
126 + </tr>
127 + <tr>
128 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br>
129 + </b>Slide the large "C" bracket end of the bracket assembly over
130 +the screw as shown, and secure with a nylon insert lock nut. The amount
131 +of friction can be adjusted by tightening or loosening the lock nut.
132 +Start with the nut loose, and if the arm seems to wobble a bit, you can
133 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
134 +- don't over-tighten this! If the arm is operated with the mechanical
135 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
136 +&nbsp;</font>
137 + <table border="0" width="100%">
138 + <tbody>
139 + <tr>
140 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
141 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
142 + </tr>
143 + <tr>
144 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
145 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
146 + </tr>
147 + </tbody>
148 + </table>
149 + </td>
150 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a04.jpg" border="2" height="240" hspace="10" width="320"><br>
151 +Figure 4.</font></td>
152 + </tr>
153 + <tr>
154 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
155 + </td>
156 + </tr>
157 + <tr>
158 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
159 +5.<br>
160 + </b>Figure 5 shows a typical mega-size servo with its default
161 +servo horn at center position. You will need to replace this black
162 +servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
163 +
164 + <p><font face="Verdana" size="2">Remove
165 +the servo horn screw,
166 +being careful to not rotate the servo horn itself. Pull the servo horn
167 +off, then press the nylon servo horn in place, as close to the
168 +alignment shown as possible. Replace the servo horn screw. Make sure
169 +your large servo looks like figure 5. The arrows in the image point to
170 +the screw holes you will
171 +use.</font></p>
172 + </td>
173 + <td align="center" valign="bottom" width="50%"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/mservo01.jpg" border="2" height="240" hspace="10" width="320"><br>
174 + <font face="Verdana" size="2">Figure 5.</font></td>
175 + </tr>
176 + <tr>
177 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
178 + </tr>
179 + <tr>
180 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br>
181 + </b>Attach the HS-755HB servo to the base bracket as shown using
182 +the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
183 +screws to secure the bracket to the servo horn. Route the shoulder
184 +servo wires underneath the servo. Plug the servo into channel 1 on the
185 +SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
186 +take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
187 +&nbsp;</font>
188 + <table border="0" width="100%">
189 + <tbody>
190 + <tr>
191 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
192 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
193 + </tr>
194 + <tr>
195 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
196 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
197 + </tr>
198 + <tr>
199 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
200 + </tr>
201 + <tr>
202 + <td colspan="2" width="100%">
203 + <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>
204 + </td>
205 + </tr>
206 + </tbody>
207 + </table>
208 + </td>
209 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a21.jpg" border="2" height="240" hspace="10" width="320"><br>
210 +Figure 6.</font></td>
211 + </tr>
212 + <tr>
213 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
214 + </td>
215 + </tr>
216 + <tr>
217 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br>
218 + </b>Attach two of the tubing connector hubs to the short side of
219 +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
220 +the tube will line up as in figure 8.</font><br>
221 + <font face="Verdana, Helvetica, sans-serif" size="2">
222 +&nbsp;</font>
223 + <table border="0" width="100%">
224 + <tbody>
225 + <tr>
226 + <td width="50%"><font face="Verdana" size="2"><b>4 x (two each)<br>
227 +</b></font></td>
228 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
229 + </tr>
230 + <tr>
231 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
232 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
233 + </tr>
234 + </tbody>
235 + </table>
236 + </td>
237 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a05.jpg" border="2" height="240" hspace="10" width="320"><br>
238 +Figure 7.</font></td>
239 + </tr>
240 + <tr>
241 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
242 + </tr>
243 + <tr>
244 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br>
245 + </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
246 +screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
247 +&nbsp;</font>
248 + <table border="0" width="100%">
249 + <tbody>
250 + <tr>
251 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
252 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
253 + </tr>
254 + <tr>
255 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/4250hscs.GIF" border="2" height="96" width="160"></font></td>
256 + <td width="50%"><font face="Verdana" size="2">&nbsp;</font></td>
257 + </tr>
258 + </tbody>
259 + </table>
260 + </td>
261 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a06.JPG" border="2" height="240" hspace="10" width="320"><br>
262 +Figure 8.</font></td>
263 + </tr>
264 + <tr>
265 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
266 + </tr>
267 + <tr>
268 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br>
269 + </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
270 +shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
271 +&nbsp;</font>
272 + <table border="0" width="100%">
273 + <tbody>
274 + <tr>
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 + <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
277 + </tr>
278 + <tr>
279 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
280 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
281 + </tr>
282 + </tbody>
283 + </table>
284 + </td>
285 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a07.jpg" border="2" height="240" hspace="10" width="320"><br>
286 +Figure 9.</font></td>
287 + </tr>
288 + <tr>
289 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
290 + </td>
291 + </tr>
292 + <tr>
293 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br>
294 +Insert the 4-40 x .5" Phillips head screw through the hole in the
295 +multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
296 +&nbsp;</font>
297 + <table border="0" width="100%">
298 + <tbody>
299 + <tr>
300 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
301 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
302 + </tr>
303 + <tr>
304 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
305 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
306 + </tr>
307 + </tbody>
308 + </table>
309 + </td>
310 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a08.jpg" border="2" height="240" hspace="10" width="320"><br>
311 +Figure 10.</font></td>
312 + </tr>
313 + <tr>
314 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
315 + </tr>
316 + <tr>
317 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br>
318 + </b>Slide the screw on the forearm assembly through the dampening
319 +discs as shown, and secure with a nylon insert lock nut. The amount of
320 +friction can be adjusted by tightening or loosening the lock nut. Start
321 +with the nut loose, and if the arm seems to wobble a bit, you can
322 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
323 +- don't over-tighten this! If the arm is operated with the mechanical
324 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
325 +&nbsp;</font>
326 + <table border="0" width="100%">
327 + <tbody>
328 + <tr>
329 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
330 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
331 + </tr>
332 + <tr>
333 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
334 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
335 + </tr>
336 + </tbody>
337 + </table>
338 + </td>
339 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a09.jpg" border="2" height="240" hspace="10" width="320"><br>
340 +Figure 11.</font></td>
341 + </tr>
342 + <tr>
343 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
344 + </tr>
345 + <tr>
346 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
347 +12.<br>
348 + </b>Figure 12 illustrates a typical standard-size servo with its
349 +output horn (the round white part) at center position. Make sure your
350 +servo looks like the image. The arrows in the image point to the screw
351 +holes you will use.</font></td>
352 + <td align="center" valign="bottom" width="50%"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/servo02.jpg" border="2" height="240" hspace="10" width="320"><br>
353 + <font face="Verdana" size="2">Figure 12.</font></td>
354 + </tr>
355 + <tr>
356 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
357 + </td>
358 + </tr>
359 + <tr>
360 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br>
361 +Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
362 +hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
363 +secure the bracket to the servo horn. Route the shoulder servo wires
364 +over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
365 +&nbsp;</font>
366 + <table border="0" width="100%">
367 + <tbody>
368 + <tr>
369 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
370 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
371 + </tr>
372 + <tr>
373 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
374 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
375 + </tr>
376 + <tr>
377 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
378 + </tr>
379 + <tr>
380 + <td colspan="2" width="100%">
381 + <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>
382 + </td>
383 + </tr>
384 + </tbody>
385 + </table>
386 + </td>
387 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a10.jpg" border="2" height="240" hspace="10" width="320"><br>
388 +Figure 13.</font></td>
389 + </tr>
390 + <tr>
391 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
392 + </tr>
393 + <tr>
394 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br>
395 + </b>Attach the Little Gripper connector to the Short "C" bracket
396 +using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
397 +&nbsp;</font>
398 + <table border="0" width="100%">
399 + <tbody>
400 + <tr>
401 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
402 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
403 + </tr>
404 + <tr>
405 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
406 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
407 + </tr>
408 + </tbody>
409 + </table>
410 + </td>
411 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a11.jpg" border="2" height="240" hspace="10" width="320"><br>
412 +Figure 14.</font></td>
413 + </tr>
414 + <tr>
415 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
416 + </td>
417 + </tr>
418 + <tr>
419 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br>
420 + </b>Attach the short "C" bracket to the other Multi-purpose
421 +bracket as shown.</font>
422 + <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>
423 +Figure 15-1.</font></p>
424 + </td>
425 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a12.jpg" border="2" height="240" hspace="10" width="320"><br>
426 +Figure 15-2.</font></td>
427 + </tr>
428 + <tr>
429 + <td colspan="2" align="left" valign="top" width="100%">&nbsp;</td>
430 + </tr>
431 + <tr>
432 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br>
433 + </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
434 +diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
435 +to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
436 +&nbsp;</font>
437 + <table border="0" width="100%">
438 + <tbody>
439 + <tr>
440 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
441 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
442 + </tr>
443 + <tr>
444 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
445 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
446 + </tr>
447 + <tr>
448 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
449 + </tr>
450 + <tr>
451 + <td colspan="2" width="100%">
452 + <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>
453 + </td>
454 + </tr>
455 + </tbody>
456 + </table>
457 + </td>
458 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a13.jpg" border="2" height="240" hspace="10" width="320"><br>
459 +Figure 16.</font></td>
460 + </tr>
461 + <tr>
462 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
463 + </td>
464 + </tr>
465 + <tr>
466 + <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br>
467 + </b>Attach the Little Grip to the Lexan as shown, using three
468 +4-40 x .375" button head screws and acorn locking nuts. Only three
469 +screws are used (shown in the image) as the body of the gripper servo
470 +is in the way for the fourth.</font>
471 + <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
472 +may be substituted) servo is aligned to mid-position, and the gripper
473 +is halfway open. Now the servo and gripper will be aligned correctly.
474 +Remove the servo screw and horn. Slide the servo into the gripper from
475 +the bottom. You may need to wiggle it a bit to get it seated properly.
476 +Use the servo screw to attach the servo. Tighten this down, but then
477 +unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
478 +&nbsp;</font> </p>
479 + <table border="0" width="100%">
480 + <tbody>
481 + <tr>
482 + <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
483 +</b></font></td>
484 + <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
485 + </b></font></td>
486 + </tr>
487 + <tr>
488 + <td width="50%"><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
489 + <td width="50%"><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440nan.GIF" border="2" height="96" width="160"></b></font></td>
490 + </tr>
491 + </tbody>
492 + </table>&nbsp;
493 +<p><font face="Verdana" size="2"><b>Step 18.</b><br>
494 +Add 6" servo extender cables to the wrist and gripper servos.</font></p>
495 + </td>
496 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a14.jpg" border="2" height="240" width="320"><br>
497 +Figure 17.<br>
498 +&nbsp;</font></td>
499 + </tr>
500 + <tr>
501 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a15.jpg" border="2" height="240" width="320"><br>
502 +Figure 18.</font></td>
503 + </tr>
504 + <tr>
505 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
506 + </tr>
507 + <tr>
508 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br>
509 + </b>Carefully bend the wrist servo back as far as it will go, and
510 +use wire ties to secure the servo cables as shown. Make sure to leave
511 +slack in the gripper servo cable, don't pull it too tight.</font></td>
512 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a16.jpg" border="2" height="240" width="320"><br>
513 +Figure 19.</font></td>
514 + </tr>
515 + <tr>
516 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
517 + </td>
518 + </tr>
519 + <tr>
520 + <td align="left" valign="top" width="50%">
521 + <p><font face="Verdana" size="2"><b>Step 20.<br>
522 + </b>Carefully stretch the arm forward as far as it will go, and
523 +use wire ties to secure the servo cables as shown. Make sure to leave
524 +slack in the cables, don't pull them too tight. Plug the servos in
525 +according to Table 20.</font></p>
526 + <div align="center">
527 + <center>
528 + <table border="1" bordercolor="#ffffff" width="320">
529 + <tbody>
530 + <tr>
531 + <td width="100%">
532 + <div align="center">
533 + <table border="1" bordercolor="#000000" width="320">
534 + <tbody>
535 + <tr>
536 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
537 +I/O</b></font></td>
538 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
539 + </tr>
540 + <tr>
541 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
542 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
543 + </tr>
544 + <tr>
545 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
546 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
547 + </tr>
548 + <tr>
549 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
550 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
551 + </tr>
552 + <tr>
553 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
554 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
555 + </tr>
556 + <tr>
557 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
558 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
559 + </tr>
560 + <tr>
561 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
562 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
563 +Rotate (Optional)</font></td>
564 + </tr>
565 + </tbody>
566 + </table>
567 + </div>
568 + </td>
569 + </tr>
570 + <tr>
571 + <td bordercolor="#FFFFFF">
572 + <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
573 + </td>
574 + </tr>
575 + </tbody>
576 + </table>
577 + </center>
578 + </div>
579 + </td>
580 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a17.jpg" border="2" height="240" width="320"><br>
581 +Figure 20.</font></td>
582 + </tr>
583 + <tr>
584 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
585 + </tr>
586 + <tr>
587 + <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
588 +you have the SSC-32U (USB connector), please proceed with Step 21b. If
589 +you have the SSC-32 (serial connector), we'll use LynxTerm to test the
590 +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">.
591 +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
592 +the serial port and apply power. The green LED should light up and stay
593 +on
594 +until it receives a valid serial command. Run the LynxTerm program. If
595 +LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
596 +and USB-to-serial troubleshooting guide</a>.<br>
597 +<br>
598 + </font><font face="Verdana" size="2">
599 +Now test the servos and connections by selecting a channel, and moving
600 +the servo carefully using the slider bar. Verify that the servos are
601 +plugged into the channels as listed in Table 20. Easy does it; this is
602 +real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
603 +
604 +
605 + </p>
606 + <p><font face="Verdana" size="2"><b><br>
607 + </b></font></p>
608 +
609 + </td>
610 + <td align="left" valign="top" width="50%">
611 + <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>
612 +Figure 21a (Lynxterm).</font></p>
613 + </td>
614 + </tr>
615 + <tr>
616 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
617 + </tr>
618 + <tr>
619 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
620 +21b (SSC-32U / Servo Utility).<br>
621 + </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
622 +Sequencer Utility to test the servos and confirm they are all plugged
623 +into their proper servo channels and oriented correctly. If not done so
624 +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
625 +cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
626 +the program.<br>
627 + <br>
628 +The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
629 +towards the bottom right of the window is set to 9600 (not 115200). The
630 +software should automatically detect which COM port is connected to the
631 +SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
632 +(USB to serial) drivers</a> automatically.<br>
633 +<br>Ensure Servos 0 4 are checked off in the software (and therefore
634 +accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
635 +plugged into the channels as listed in Table 21. Easy does it; this is
636 +real time control, so be careful.<br>
637 +<br>
638 +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>
639 +
640 + <br>
641 + <font face="Verdana" size="2"> </font></td>
642 + <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>
643 +
644 + <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
645 + </tr>
646 + <tr>
647 + <td style="vertical-align: top;"><br>
648 + </td>
649 + <td style="vertical-align: top; text-align: center;"><br>
650 + </td>
651 + </tr>
652 +<tr>
653 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
654 +Click on the "All = 1500" button in LynxTerm. This will command the
655 +servos to hold center position. Your arm should look like Figure 22. If
656 +any joint is off by more than 15°, then you may have made an error in
657 +assembly.<br>
658 +<br>
659 + </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
660 +
661 +
662 +
663 + <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>
664 +
665 +</td>
666 + <td align="left" valign="top" width="50%">
667 + <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>
668 +Figure 22.</font></p>
669 + </td>
670 + </tr>
671 + <tr>
672 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
673 + </td>
674 + </tr>
675 + <tr>
676 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
677 +Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
678 +A knob next to each servo will appear (figure 22b). This knob is used
679 +to fine tune the servo's center position. The knob is not intended to
680 +be rotated: click the knob you wish to rotate, keeping the mouse button
681 +down, and drag up and down to rotate the knob. Do this for each servo
682 +until the arm looks like figure 22, and angles are 90 and 180 degrees.
683 +If
684 +any joint is off by more than 15°, then you may have made an error in
685 +assembly.<br>
686 + <br>
687 +Once all servos have been properly positioned, click the icon
688 +"Calibrate" once again, and the offset values will be stored on the
689 +SSC-32 / SSC-32U.<br>
690 +<br>
691 +If you did not purchase the RIOS software, please proceed to step 27.</font></td>
692 + <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>
693 +<font face="Verdana" size="2">
694 +Figure 22b (SSC-32 Utility).</font></td>
695 + </tr>
696 + <tr>
697 + <td style="vertical-align: top;"><br>
698 + </td>
699 + <td style="vertical-align: top;"><br>
700 + </td>
701 + </tr>
702 +<tr>
703 + <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>
704 + </b>To use the RIOS Arm control software, you need to make one
705 +minor modification. Remove the servo horn screw from the elbow servo.
706 +Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
707 +the elbow and reattach the servo horn and screw. Note, the Hitec spline
708 +has 24 grooves, so each groove is 15°.</font></td>
709 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a18.jpg" border="2" height="240" width="320"><br>
710 +Figure 23.</font></td>
711 + </tr>
712 + <tr>
713 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
714 + </tr>
715 + <tr>
716 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
717 +At this point the arms is assembled and tested using LynxTerm. If your
718 +robot came with RIOS, we can now install RIOS and calibrate the arm to
719 +the software. For those using a different program such as FlowBotics or
720 +FlowStone, refer to the software's user guide. Use the RIOS Help File
721 +to calibrate and use the arm.</font>
722 + <p><font face="Verdana" size="2">Install RIOS, following the
723 +on-screen installation prompts. The serial number is on the back of the
724 +CD sleeve.</font></p>
725 + <p><font face="Verdana" size="2">Use the RIOS Help File to
726 +calibrate and use the arm, following Steps 1-7. When you get to Step 8
727 +in the help file, please use the following instructions instead. Click
728 +on the "Arm" button, then click on the "Arm" button in the "Arm size"
729 +section, and then click on the AL5A arm image on the popup screen.</font></p>
730 + <p><font face="Verdana" size="2">Please take the time to do an
731 +accurate calibration. The performance of the arm will only be as good
732 +as the calibration. If the on screen virtual arm does not match the
733 +real arm this is a sign of an inaccurate calibration. After calibration
734 +please study the RIOS manual carefully to learn how to store and
735 +playback sequences for the arm.</font></p>
736 + </td>
737 + <td align="left" valign="top" width="50%">
738 + <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>
739 + <font face="Verdana" size="2">
740 +Figure 24 (RIOS).</font></p>
741 + </td>
742 + </tr>
743 + <tr>
744 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
745 + </tr>
746 + <tr>
747 + <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>
748 +To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
749 + <td align="left" valign="top" width="50%">
750 + <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>
751 + <font face="Verdana" size="2">
752 +Figure 25 (RIOS).</font></p>
753 + </td>
754 + </tr>
755 + <tr>
756 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
757 + </td>
758 + </tr>
759 + <tr>
760 + <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>
761 +Select the Shoulder, servo #2. Move the shoulder slider up to move the
762 +shoulder forward so that it looks like Figure 27-2. Set the Min Deg
763 +angle -90°. Right click on the slider to set this as the Min Position.
764 +Now the servo will not go past this value, and the program now knows
765 +this value is exactly 90° from centered.</font>
766 + <p><font face="Verdana" size="2">Now move the slider down to move
767 +the shoulder backward so that it looks like Figure 27-3. Set the Max
768 +Deg angle to 45°. Right click on the slider to set this as the Max
769 +Position. Now the servo will not go past this value, and the program
770 +now knows this value is exactly 45° from centered.</font></p>
771 + <p><font face="Verdana" size="2">The next step is to read and
772 +study the RIOS users guide. It is accessible by clicking on the help
773 +icon on the main screen or by navigating to the install directory
774 +(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
775 +manual explains in great detail how to use the arm.</font></p>
776 +
777 + </td>
778 + <td align="left" valign="top" width="50%">
779 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/rios01.jpg" border="2" height="240" hspace="10" width="321"><br>
780 +
781 +Figure 26-1 (RIOS).</font></p>
782 + </td>
783 + </tr>
784 + <tr>
785 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
786 + </tr>
787 + <tr>
788 + <td align="left" valign="top" width="50%">
789 + <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>
790 +Figure 26-2.</font></p>
791 + </td>
792 + <td align="left" valign="top" width="50%">
793 + <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>
794 +Figure 26-3.</font></p>
795 + </td>
796 + </tr>
797 + <tr>
798 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
799 + </tr>
800 + <tr>
801 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br>
802 + </b>To connect springs for load-balancing, replace the servo
803 +attachment hardware in the locations shown, following the diagrams
804 +below. Hook the springs together after they're secured.</font>
805 + <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>
806 + <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>
807 + </td>
808 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a19.jpg" border="2" height="240" width="320"><br>
809 +Figure 27.</font></td>
810 + </tr>
811 + <tr>
812 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
813 + </td>
814 + </tr>
815 + <tr>
816 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br>
817 + </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
818 +but the servos can be damaged by improper use. An example would be if
819 +the arm was told to move to an unobtainable position, like the surface
820 +the arm is mounted to, or by crashing the arm into itself, or other
821 +objects. The elbow servo is the most vulnerable because it holds the
822 +entire weight of the forearm. Load balancing springs should be added to
823 +reduce some of this load.<br>
824 + <br>
825 + </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
826 +FlowStone or FlowArm, you can proceed with the instruction guide(s)
827 +associated with those programs.</font><br>
828 +
829 +
830 + <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
831 +like holding heavy objects with their arms outstretched in front of
832 +them. Servo based robot arms don't like it much either. Remember, the
833 +most important rule for servo based robot arms: Park the arm when not
834 +in motion! When it's moving or at rest it's usually ok. When it's
835 +holding an object it should do so for the minimum amount of time
836 +required to do the job. You can always touch the servo case to see if
837 +it's getting hot.</b> </font> </p>
838 + </td>
839 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br>
840 +</font></td>
841 + </tr>
842 + </tbody>
843 +</table>
844 +
845 +</body></html>
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