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1 1  {{html wiki="false" clean="true"}}
2 -<table border="0" cellpadding="0" cellspacing="0" width="100%">
3 - <tbody>
4 - <tr>
5 - <td style="vertical-align: top; text-align: left; width: 100%;"><b><font face="Verdana" size="2">AL5A Arm Assembly Instructions Rev. 2.1.</font></b>
6 - <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
7 - </font></b></p>
8 - <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
9 - <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
10 -the SSC-32 or the SSC-32U servo controller. Take note of which version you have
11 -and follow each step accordingly, as the connections and configuration
12 -are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
13 - <ul>
14 - <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
15 - <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
16 - <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
17 - <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
18 - </ul>
19 19  
20 -
21 -
22 - <p><font face="Verdana" size="2">Note: Loctite / thread lock
23 -can be used on the construction of the aluminum components, though it
24 -is not necessary if the nuts are properly tightened. However,
25 -don't use them with Lexan or plastic, as they are not necessary and may
26 -cause
27 -damage.</font></p>
28 -</td>
29 - <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>
30 - <b>Image of complete arm (SSC-32 Shown).</b></font></td>
31 - </tr>
32 - <tr>
33 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
34 - </tr>
35 - <tr>
36 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Lexan Preparation.<br>
37 - </b>The lexan pieces have a protective covering that needs to be
38 -removed before assembly. When the laser cuts, the covering melts into
39 -the cut edge which can make removal difficult. If you gently scrape the
40 -cut edge with a flat blade screwdriver, the covering can easily be
41 -lifted and peeled off.</font>
42 - <p><font face="Verdana" size="2">On smaller pieces the coverings
43 -can be more difficult to remove. If you have trouble you can gently
44 -scrape the cut edge, then use duct tape to lift the covering off.</font></p>
45 - <p><font face="Verdana" size="2">For further information on
46 -lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
47 -page</a>.</font></p>
48 - </td>
49 - <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>
50 -Lexan Preparation.</font></td>
51 - </tr>
52 - <tr>
53 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
54 - </tr>
55 - <tr>
56 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br>
57 -Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
58 -x 1/4" screws and 2-56 nuts.<br>
59 - <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
60 - <table border="0" width="100%">
61 - <tbody>
62 - <tr>
63 - <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
64 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
65 - </tr>
66 - <tr>
67 - <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>
68 - <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>
69 - </tr>
70 - </tbody>
71 - </table>
72 - </font></td>
73 - <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>
74 -Figure 1.</font></td>
75 - </tr>
76 - <tr>
77 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
78 - </td>
79 - </tr>
80 - <tr>
81 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br>
82 - </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
83 -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
84 -removed from the Lexan parts.</font><font face="Verdana" size="2">
85 -Press down when screwing to ensure there is no gap between the Lexan
86 -and the aluminum, as the screw will be threading the Lexan. </font><br>
87 -
88 - <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>
89 - </td>
90 - <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>
91 -Figure 2.</font></td>
92 - </tr>
93 - <tr>
94 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
95 - </tr>
96 - <tr>
97 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br>
98 - </b>Insert the 4-40 x .5" Phillips head screw through the hole in
99 -the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
100 -&nbsp;</font>
101 - <table border="0" width="100%">
102 - <tbody>
103 - <tr>
104 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
105 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
106 - </tr>
107 - <tr>
108 - <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>
109 - <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>
110 - </tr>
111 - </tbody>
112 - </table>
113 - </td>
114 - <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>
115 -Figure 3.</font></td>
116 - </tr>
117 - <tr>
118 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
119 - </tr>
120 - <tr>
121 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br>
122 - </b>Slide the large "C" bracket end of the bracket assembly over
123 -the screw as shown, and secure with a nylon insert lock nut. The amount
124 -of friction can be adjusted by tightening or loosening the lock nut.
125 -Start with the nut loose, and if the arm seems to wobble a bit, you can
126 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
127 -- don't over-tighten this! If the arm is operated with the mechanical
128 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
129 -&nbsp;</font>
130 - <table border="0" width="100%">
131 - <tbody>
132 - <tr>
133 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
134 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
135 - </tr>
136 - <tr>
137 - <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>
138 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
139 - </tr>
140 - </tbody>
141 - </table>
142 - </td>
143 - <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>
144 -Figure 4.</font></td>
145 - </tr>
146 - <tr>
147 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
148 - </td>
149 - </tr>
150 - <tr>
151 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
152 -5.<br>
153 - </b>Figure 5 shows a typical mega-size servo with its default
154 -servo horn at center position. You will need to replace this black
155 -servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
156 -
157 - <p><font face="Verdana" size="2">Remove
158 -the servo horn screw,
159 -being careful to not rotate the servo horn itself. Pull the servo horn
160 -off, then press the nylon servo horn in place, as close to the
161 -alignment shown as possible. Replace the servo horn screw. Make sure
162 -your large servo looks like figure 5. The arrows in the image point to
163 -the screw holes you will
164 -use.</font></p>
165 - </td>
166 - <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>
167 - <font face="Verdana" size="2">Figure 5.</font></td>
168 - </tr>
169 - <tr>
170 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
171 - </tr>
172 - <tr>
173 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br>
174 - </b>Attach the HS-755HB servo to the base bracket as shown using
175 -the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
176 -screws to secure the bracket to the servo horn. Route the shoulder
177 -servo wires underneath the servo. Plug the servo into channel 1 on the
178 -SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
179 -take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
180 -&nbsp;</font>
181 - <table border="0" width="100%">
182 - <tbody>
183 - <tr>
184 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
185 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
186 - </tr>
187 - <tr>
188 - <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>
189 - <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>
190 - </tr>
191 - <tr>
192 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
193 - </tr>
194 - <tr>
195 - <td colspan="2" width="100%">
196 - <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>
197 - </td>
198 - </tr>
199 - </tbody>
200 - </table>
201 - </td>
202 - <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>
203 -Figure 6.</font></td>
204 - </tr>
205 - <tr>
206 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
207 - </td>
208 - </tr>
209 - <tr>
210 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br>
211 - </b>Attach two of the tubing connector hubs to the short side of
212 -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
213 -the tube will line up as in figure 8.</font><br>
214 - <font face="Verdana, Helvetica, sans-serif" size="2">
215 -&nbsp;</font>
216 - <table border="0" width="100%">
217 - <tbody>
218 - <tr>
219 - <td width="50%"><font face="Verdana" size="2"><b>4 x (two each)<br>
220 -</b></font></td>
221 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
222 - </tr>
223 - <tr>
224 - <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>
225 - <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>
226 - </tr>
227 - </tbody>
228 - </table>
229 - </td>
230 - <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>
231 -Figure 7.</font></td>
232 - </tr>
233 - <tr>
234 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
235 - </tr>
236 - <tr>
237 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br>
238 - </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
239 -screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
240 -&nbsp;</font>
241 - <table border="0" width="100%">
242 - <tbody>
243 - <tr>
244 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
245 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
246 - </tr>
247 - <tr>
248 - <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>
249 - <td width="50%"><font face="Verdana" size="2">&nbsp;</font></td>
250 - </tr>
251 - </tbody>
252 - </table>
253 - </td>
254 - <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>
255 -Figure 8.</font></td>
256 - </tr>
257 - <tr>
258 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
259 - </tr>
260 - <tr>
261 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br>
262 - </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
263 -shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
264 -&nbsp;</font>
265 - <table border="0" width="100%">
266 - <tbody>
267 - <tr>
268 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
269 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
270 - </tr>
271 - <tr>
272 - <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>
273 - <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>
274 - </tr>
275 - </tbody>
276 - </table>
277 - </td>
278 - <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>
279 -Figure 9.</font></td>
280 - </tr>
281 - <tr>
282 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
283 - </td>
284 - </tr>
285 - <tr>
286 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br>
287 -Insert the 4-40 x .5" Phillips head screw through the hole in the
288 -multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
289 -&nbsp;</font>
290 - <table border="0" width="100%">
291 - <tbody>
292 - <tr>
293 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
294 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
295 - </tr>
296 - <tr>
297 - <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>
298 - <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>
299 - </tr>
300 - </tbody>
301 - </table>
302 - </td>
303 - <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>
304 -Figure 10.</font></td>
305 - </tr>
306 - <tr>
307 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
308 - </tr>
309 - <tr>
310 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br>
311 - </b>Slide the screw on the forearm assembly through the dampening
312 -discs as shown, and secure with a nylon insert lock nut. The amount of
313 -friction can be adjusted by tightening or loosening the lock nut. Start
314 -with the nut loose, and if the arm seems to wobble a bit, you can
315 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
316 -- don't over-tighten this! If the arm is operated with the mechanical
317 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
318 -&nbsp;</font>
319 - <table border="0" width="100%">
320 - <tbody>
321 - <tr>
322 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
323 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
324 - </tr>
325 - <tr>
326 - <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>
327 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
328 - </tr>
329 - </tbody>
330 - </table>
331 - </td>
332 - <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>
333 -Figure 11.</font></td>
334 - </tr>
335 - <tr>
336 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
337 - </tr>
338 - <tr>
339 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
340 -12.<br>
341 - </b>Figure 12 illustrates a typical standard-size servo with its
342 -output horn (the round white part) at center position. Make sure your
343 -servo looks like the image. The arrows in the image point to the screw
344 -holes you will use.</font></td>
345 - <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>
346 - <font face="Verdana" size="2">Figure 12.</font></td>
347 - </tr>
348 - <tr>
349 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
350 - </td>
351 - </tr>
352 - <tr>
353 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br>
354 -Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
355 -hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
356 -secure the bracket to the servo horn. Route the shoulder servo wires
357 -over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
358 -&nbsp;</font>
359 - <table border="0" width="100%">
360 - <tbody>
361 - <tr>
362 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
363 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
364 - </tr>
365 - <tr>
366 - <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>
367 - <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>
368 - </tr>
369 - <tr>
370 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
371 - </tr>
372 - <tr>
373 - <td colspan="2" width="100%">
374 - <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>
375 - </td>
376 - </tr>
377 - </tbody>
378 - </table>
379 - </td>
380 - <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>
381 -Figure 13.</font></td>
382 - </tr>
383 - <tr>
384 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
385 - </tr>
386 - <tr>
387 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br>
388 - </b>Attach the Little Gripper connector to the Short "C" bracket
389 -using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
390 -&nbsp;</font>
391 - <table border="0" width="100%">
392 - <tbody>
393 - <tr>
394 - <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
395 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
396 - </tr>
397 - <tr>
398 - <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>
399 - <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>
400 - </tr>
401 - </tbody>
402 - </table>
403 - </td>
404 - <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>
405 -Figure 14.</font></td>
406 - </tr>
407 - <tr>
408 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
409 - </td>
410 - </tr>
411 - <tr>
412 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br>
413 - </b>Attach the short "C" bracket to the other Multi-purpose
414 -bracket as shown.</font>
415 - <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>
416 -Figure 15-1.</font></p>
417 - </td>
418 - <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>
419 -Figure 15-2.</font></td>
420 - </tr>
421 - <tr>
422 - <td colspan="2" align="left" valign="top" width="100%">&nbsp;</td>
423 - </tr>
424 - <tr>
425 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br>
426 - </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
427 -diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
428 -to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
429 -&nbsp;</font>
430 - <table border="0" width="100%">
431 - <tbody>
432 - <tr>
433 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
434 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
435 - </tr>
436 - <tr>
437 - <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>
438 - <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>
439 - </tr>
440 - <tr>
441 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
442 - </tr>
443 - <tr>
444 - <td colspan="2" width="100%">
445 - <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>
446 - </td>
447 - </tr>
448 - </tbody>
449 - </table>
450 - </td>
451 - <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>
452 -Figure 16.</font></td>
453 - </tr>
454 - <tr>
455 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
456 - </td>
457 - </tr>
458 - <tr>
459 - <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br>
460 - </b>Attach the Little Grip to the Lexan as shown, using three
461 -4-40 x .375" button head screws and acorn locking nuts. Only three
462 -screws are used (shown in the image) as the body of the gripper servo
463 -is in the way for the fourth.</font>
464 - <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
465 -may be substituted) servo is aligned to mid-position, and the gripper
466 -is halfway open. Now the servo and gripper will be aligned correctly.
467 -Remove the servo screw and horn. Slide the servo into the gripper from
468 -the bottom. You may need to wiggle it a bit to get it seated properly.
469 -Use the servo screw to attach the servo. Tighten this down, but then
470 -unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
471 -&nbsp;</font> </p>
472 - <table border="0" width="100%">
473 - <tbody>
474 - <tr>
475 - <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
476 -</b></font></td>
477 - <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
478 - </b></font></td>
479 - </tr>
480 - <tr>
481 - <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>
482 - <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>
483 - </tr>
484 - </tbody>
485 - </table>&nbsp;
486 -<p><font face="Verdana" size="2"><b>Step 18.</b><br>
487 -Add 6" servo extender cables to the wrist and gripper servos.</font></p>
488 - </td>
489 - <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>
490 -Figure 17.<br>
491 -&nbsp;</font></td>
492 - </tr>
493 - <tr>
494 - <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>
495 -Figure 18.</font></td>
496 - </tr>
497 - <tr>
498 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
499 - </tr>
500 - <tr>
501 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br>
502 - </b>Carefully bend the wrist servo back as far as it will go, and
503 -use wire ties to secure the servo cables as shown. Make sure to leave
504 -slack in the gripper servo cable, don't pull it too tight.</font></td>
505 - <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>
506 -Figure 19.</font></td>
507 - </tr>
508 - <tr>
509 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
510 - </td>
511 - </tr>
512 - <tr>
513 - <td align="left" valign="top" width="50%">
514 - <p><font face="Verdana" size="2"><b>Step 20.<br>
515 - </b>Carefully stretch the arm forward as far as it will go, and
516 -use wire ties to secure the servo cables as shown. Make sure to leave
517 -slack in the cables, don't pull them too tight. Plug the servos in
518 -according to Table 20.</font></p>
519 - <div align="center">
520 - <center>
521 - <table border="1" bordercolor="#ffffff" width="320">
522 - <tbody>
523 - <tr>
524 - <td width="100%">
525 - <div align="center">
526 - <table border="1" bordercolor="#000000" width="320">
527 - <tbody>
528 - <tr>
529 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
530 -I/O</b></font></td>
531 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
532 - </tr>
533 - <tr>
534 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
535 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
536 - </tr>
537 - <tr>
538 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
539 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
540 - </tr>
541 - <tr>
542 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
543 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
544 - </tr>
545 - <tr>
546 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
547 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
548 - </tr>
549 - <tr>
550 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
551 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
552 - </tr>
553 - <tr>
554 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
555 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
556 -Rotate (Optional)</font></td>
557 - </tr>
558 - </tbody>
559 - </table>
560 - </div>
561 - </td>
562 - </tr>
563 - <tr>
564 - <td bordercolor="#FFFFFF">
565 - <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
566 - </td>
567 - </tr>
568 - </tbody>
569 - </table>
570 - </center>
571 - </div>
572 - </td>
573 - <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>
574 -Figure 20.</font></td>
575 - </tr>
576 - <tr>
577 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
578 - </tr>
579 - <tr>
580 - <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
581 -you have the SSC-32U (USB connector), please proceed with Step 21b. If
582 -you have the SSC-32 (serial connector), we'll use LynxTerm to test the
583 -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">.
584 -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
585 -the serial port and apply power. The green LED should light up and stay
586 -on
587 -until it receives a valid serial command. Run the LynxTerm program. If
588 -LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
589 -and USB-to-serial troubleshooting guide</a>.<br>
590 -<br>
591 - </font><font face="Verdana" size="2">
592 -Now test the servos and connections by selecting a channel, and moving
593 -the servo carefully using the slider bar. Verify that the servos are
594 -plugged into the channels as listed in Table 20. Easy does it; this is
595 -real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
596 -
597 -
598 - </p>
599 - <p><font face="Verdana" size="2"><b><br>
600 - </b></font></p>
601 -
602 - </td>
603 - <td align="left" valign="top" width="50%">
604 - <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>
605 -Figure 21a (Lynxterm).</font></p>
606 - </td>
607 - </tr>
608 - <tr>
609 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
610 - </tr>
611 - <tr>
612 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
613 -21b (SSC-32U / Servo Utility).<br>
614 - </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
615 -Sequencer Utility to test the servos and confirm they are all plugged
616 -into their proper servo channels and oriented correctly. If not done so
617 -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
618 -cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
619 -the program.<br>
620 - <br>
621 -The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
622 -towards the bottom right of the window is set to 9600 (not 115200). The
623 -software should automatically detect which COM port is connected to the
624 -SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
625 -(USB to serial) drivers</a> automatically.<br>
626 -<br>Ensure Servos 0 4 are checked off in the software (and therefore
627 -accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
628 -plugged into the channels as listed in Table 21. Easy does it; this is
629 -real time control, so be careful.<br>
630 -<br>
631 -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>
632 -
633 - <br>
634 - <font face="Verdana" size="2"> </font></td>
635 - <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>
636 -
637 - <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
638 - </tr>
639 - <tr>
640 - <td style="vertical-align: top;"><br>
641 - </td>
642 - <td style="vertical-align: top; text-align: center;"><br>
643 - </td>
644 - </tr>
645 -<tr>
646 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
647 -Click on the "All = 1500" button in LynxTerm. This will command the
648 -servos to hold center position. Your arm should look like Figure 22. If
649 -any joint is off by more than 15°, then you may have made an error in
650 -assembly.<br>
651 -<br>
652 - </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
653 -
654 -
655 -
656 - <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>
657 -
658 -</td>
659 - <td align="left" valign="top" width="50%">
660 - <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>
661 -Figure 22.</font></p>
662 - </td>
663 - </tr>
664 - <tr>
665 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
666 - </td>
667 - </tr>
668 - <tr>
669 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
670 -Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
671 -A knob next to each servo will appear (figure 22b). This knob is used
672 -to fine tune the servo's center position. The knob is not intended to
673 -be rotated: click the knob you wish to rotate, keeping the mouse button
674 -down, and drag up and down to rotate the knob. Do this for each servo
675 -until the arm looks like figure 22, and angles are 90 and 180 degrees.
676 -If
677 -any joint is off by more than 15°, then you may have made an error in
678 -assembly.<br>
679 - <br>
680 -Once all servos have been properly positioned, click the icon
681 -"Calibrate" once again, and the offset values will be stored on the
682 -SSC-32 / SSC-32U.<br>
683 -<br>
684 -If you did not purchase the RIOS software, please proceed to step 27.</font></td>
685 - <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>
686 -<font face="Verdana" size="2">
687 -Figure 22b (SSC-32 Utility).</font></td>
688 - </tr>
689 - <tr>
690 - <td style="vertical-align: top;"><br>
691 - </td>
692 - <td style="vertical-align: top;"><br>
693 - </td>
694 - </tr>
695 -<tr>
696 - <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>
697 - </b>To use the RIOS Arm control software, you need to make one
698 -minor modification. Remove the servo horn screw from the elbow servo.
699 -Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
700 -the elbow and reattach the servo horn and screw. Note, the Hitec spline
701 -has 24 grooves, so each groove is 15°.</font></td>
702 - <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>
703 -Figure 23.</font></td>
704 - </tr>
705 - <tr>
706 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
707 - </tr>
708 - <tr>
709 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
710 -At this point the arms is assembled and tested using LynxTerm. If your
711 -robot came with RIOS, we can now install RIOS and calibrate the arm to
712 -the software. For those using a different program such as FlowBotics or
713 -FlowStone, refer to the software's user guide. Use the RIOS Help File
714 -to calibrate and use the arm.</font>
715 - <p><font face="Verdana" size="2">Install RIOS, following the
716 -on-screen installation prompts. The serial number is on the back of the
717 -CD sleeve.</font></p>
718 - <p><font face="Verdana" size="2">Use the RIOS Help File to
719 -calibrate and use the arm, following Steps 1-7. When you get to Step 8
720 -in the help file, please use the following instructions instead. Click
721 -on the "Arm" button, then click on the "Arm" button in the "Arm size"
722 -section, and then click on the AL5A arm image on the popup screen.</font></p>
723 - <p><font face="Verdana" size="2">Please take the time to do an
724 -accurate calibration. The performance of the arm will only be as good
725 -as the calibration. If the on screen virtual arm does not match the
726 -real arm this is a sign of an inaccurate calibration. After calibration
727 -please study the RIOS manual carefully to learn how to store and
728 -playback sequences for the arm.</font></p>
729 - </td>
730 - <td align="left" valign="top" width="50%">
731 - <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/rios03.jpg" border="2" height="240" hspace="10" width="320"></font><br>
732 - <font face="Verdana" size="2">
733 -Figure 24 (RIOS).</font></p>
734 - </td>
735 - </tr>
736 - <tr>
737 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
738 - </tr>
739 - <tr>
740 - <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>
741 -To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
742 - <td align="left" valign="top" width="50%">
743 - <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>
744 - <font face="Verdana" size="2">
745 -Figure 25 (RIOS).</font></p>
746 - </td>
747 - </tr>
748 - <tr>
749 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
750 - </td>
751 - </tr>
752 - <tr>
753 - <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>
754 -Select the Shoulder, servo #2. Move the shoulder slider up to move the
755 -shoulder forward so that it looks like Figure 27-2. Set the Min Deg
756 -angle -90°. Right click on the slider to set this as the Min Position.
757 -Now the servo will not go past this value, and the program now knows
758 -this value is exactly 90° from centered.</font>
759 - <p><font face="Verdana" size="2">Now move the slider down to move
760 -the shoulder backward so that it looks like Figure 27-3. Set the Max
761 -Deg angle to 45°. Right click on the slider to set this as the Max
762 -Position. Now the servo will not go past this value, and the program
763 -now knows this value is exactly 45° from centered.</font></p>
764 - <p><font face="Verdana" size="2">The next step is to read and
765 -study the RIOS users guide. It is accessible by clicking on the help
766 -icon on the main screen or by navigating to the install directory
767 -(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
768 -manual explains in great detail how to use the arm.</font></p>
769 -
770 - </td>
771 - <td align="left" valign="top" width="50%">
772 - <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>
773 -
774 -Figure 26-1 (RIOS).</font></p>
775 - </td>
776 - </tr>
777 - <tr>
778 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
779 - </tr>
780 - <tr>
781 - <td align="left" valign="top" width="50%">
782 - <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>
783 -Figure 26-2.</font></p>
784 - </td>
785 - <td align="left" valign="top" width="50%">
786 - <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>
787 -Figure 26-3.</font></p>
788 - </td>
789 - </tr>
790 - <tr>
791 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
792 - </tr>
793 - <tr>
794 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br>
795 - </b>To connect springs for load-balancing, replace the servo
796 -attachment hardware in the locations shown, following the diagrams
797 -below. Hook the springs together after they're secured.</font>
798 - <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>
799 - <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>
800 - </td>
801 - <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>
802 -Figure 27.</font></td>
803 - </tr>
804 - <tr>
805 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
806 - </td>
807 - </tr>
808 - <tr>
809 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br>
810 - </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
811 -but the servos can be damaged by improper use. An example would be if
812 -the arm was told to move to an unobtainable position, like the surface
813 -the arm is mounted to, or by crashing the arm into itself, or other
814 -objects. The elbow servo is the most vulnerable because it holds the
815 -entire weight of the forearm. Load balancing springs should be added to
816 -reduce some of this load.<br>
817 - <br>
818 - </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
819 -FlowStone or FlowArm, you can proceed with the instruction guide(s)
820 -associated with those programs.</font><br>
821 -
822 -
823 - <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
824 -like holding heavy objects with their arms outstretched in front of
825 -them. Servo based robot arms don't like it much either. Remember, the
826 -most important rule for servo based robot arms: Park the arm when not
827 -in motion! When it's moving or at rest it's usually ok. When it's
828 -holding an object it should do so for the minimum amount of time
829 -required to do the job. You can always touch the servo case to see if
830 -it's getting hot.</b> </font> </p>
831 - </td>
832 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br>
833 -</font></td>
834 - </tr>
835 - </tbody>
836 -</table>
837 -
838 -</body></html>
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