Changes for page AL5A Arm Assembly Instructions Rev. 2.1
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... ... @@ -1,846 +1,3 @@ 1 1 {{html wiki="false" clean="true"}} 2 -<table style="width: 1609px; height: 10472px;" border="0" cellpadding="0" cellspacing="0"> 3 3 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"> </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"> </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"> </font> 67 - <table border="0" width="100%"> 68 - <tbody> 69 - <tr> 70 - <td width="50%"><font face="Verdana" size="2"><b>2 x </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"> </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 - </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"> </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 - </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> </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> </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. </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"> </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 - </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> </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> </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 - </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"> </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 - </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> </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"> </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"> </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 - </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 - </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"> </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 - </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> </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> </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"> </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 - </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> </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> </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"> </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 - </font> 398 - <table border="0" width="100%"> 399 - <tbody> 400 - <tr> 401 - <td width="50%"><font face="Verdana" size="2"><b>2 x </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%"> </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 - </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> </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> </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 - </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> 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 - </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"> </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"> </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"> </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"> </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"> </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"> </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"> </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> 846 846 {{/html}}
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