Changes for page AL5A Arm Assembly Instructions Rev. 2.1
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... ... @@ -1,836 +1,3 @@ 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 - <p><font face="Verdana" size="2">Note: Loctite / thread lock 20 -can be used on the construction of the aluminum components, though it 21 -is not necessary if the nuts are properly tightened. However, 22 -don't use them with Lexan or plastic, as they are not necessary and may 23 -cause 24 -damage.</font></p> 25 -</td> 26 - <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> 27 - <b>Image of complete arm (SSC-32 Shown).</b></font></td> 28 - </tr> 29 - <tr> 30 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 31 - </tr> 32 - <tr> 33 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Lexan Preparation.<br> 34 - </b>The lexan pieces have a protective covering that needs to be 35 -removed before assembly. When the laser cuts, the covering melts into 36 -the cut edge which can make removal difficult. If you gently scrape the 37 -cut edge with a flat blade screwdriver, the covering can easily be 38 -lifted and peeled off.</font> 39 - <p><font face="Verdana" size="2">On smaller pieces the coverings 40 -can be more difficult to remove. If you have trouble you can gently 41 -scrape the cut edge, then use duct tape to lift the covering off.</font></p> 42 - <p><font face="Verdana" size="2">For further information on 43 -lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this 44 -page</a>.</font></p> 45 - </td> 46 - <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> 47 -Lexan Preparation.</font></td> 48 - </tr> 49 - <tr> 50 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 51 - </tr> 52 - <tr> 53 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br> 54 -Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56 55 -x 1/4" screws and 2-56 nuts.<br> 56 - <font face="Verdana, Helvetica, sans-serif" size="2"> </font> 57 - <table border="0" width="100%"> 58 - <tbody> 59 - <tr> 60 - <td width="50%"><font face="Verdana" size="2"><b>2 x </b></font></td> 61 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 62 - </tr> 63 - <tr> 64 - <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> 65 - <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> 66 - </tr> 67 - </tbody> 68 - </table> 69 - </font></td> 70 - <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> 71 -Figure 1.</font></td> 72 - </tr> 73 - <tr> 74 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 75 - </td> 76 - </tr> 77 - <tr> 78 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br> 79 - </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch 80 -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 81 -removed from the Lexan parts.</font><font face="Verdana" size="2"> 82 -Press down when screwing to ensure there is no gap between the Lexan 83 -and the aluminum, as the screw will be threading the Lexan. </font><br> 84 84 85 - <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> 86 - </td> 87 - <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> 88 -Figure 2.</font></td> 89 - </tr> 90 - <tr> 91 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 92 - </tr> 93 - <tr> 94 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br> 95 - </b>Insert the 4-40 x .5" Phillips head screw through the hole in 96 -the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 97 - </font> 98 - <table border="0" width="100%"> 99 - <tbody> 100 - <tr> 101 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 102 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 103 - </tr> 104 - <tr> 105 - <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> 106 - <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> 107 - </tr> 108 - </tbody> 109 - </table> 110 - </td> 111 - <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> 112 -Figure 3.</font></td> 113 - </tr> 114 - <tr> 115 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 116 - </tr> 117 - <tr> 118 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br> 119 - </b>Slide the large "C" bracket end of the bracket assembly over 120 -the screw as shown, and secure with a nylon insert lock nut. The amount 121 -of friction can be adjusted by tightening or loosening the lock nut. 122 -Start with the nut loose, and if the arm seems to wobble a bit, you can 123 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution 124 -- don't over-tighten this! If the arm is operated with the mechanical 125 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 126 - </font> 127 - <table border="0" width="100%"> 128 - <tbody> 129 - <tr> 130 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 131 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 132 - </tr> 133 - <tr> 134 - <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> 135 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 136 - </tr> 137 - </tbody> 138 - </table> 139 - </td> 140 - <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> 141 -Figure 4.</font></td> 142 - </tr> 143 - <tr> 144 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 145 - </td> 146 - </tr> 147 - <tr> 148 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step 149 -5.<br> 150 - </b>Figure 5 shows a typical mega-size servo with its default 151 -servo horn at center position. You will need to replace this black 152 -servo horn on the 755 servo with the round nylon servo horn included with the hardware bag. </font> 153 - 154 - <p><font face="Verdana" size="2">Remove 155 -the servo horn screw, 156 -being careful to not rotate the servo horn itself. Pull the servo horn 157 -off, then press the nylon servo horn in place, as close to the 158 -alignment shown as possible. Replace the servo horn screw. Make sure 159 -your large servo looks like figure 5. The arrows in the image point to 160 -the screw holes you will 161 -use.</font></p> 162 - </td> 163 - <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> 164 - <font face="Verdana" size="2">Figure 5.</font></td> 165 - </tr> 166 - <tr> 167 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 168 - </tr> 169 - <tr> 170 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br> 171 - </b>Attach the HS-755HB servo to the base bracket as shown using 172 -the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping 173 -screws to secure the bracket to the servo horn. Route the shoulder 174 -servo wires underneath the servo. Plug the servo into channel 1 on the 175 -SSC-32. Carefully rotate the base to an extreme, and use a wire tie to 176 -take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 177 - </font> 178 - <table border="0" width="100%"> 179 - <tbody> 180 - <tr> 181 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 182 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 183 - </tr> 184 - <tr> 185 - <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> 186 - <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> 187 - </tr> 188 - <tr> 189 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b> </b></font></td> 190 - </tr> 191 - <tr> 192 - <td colspan="2" width="100%"> 193 - <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> 194 - </td> 195 - </tr> 196 - </tbody> 197 - </table> 198 - </td> 199 - <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> 200 -Figure 6.</font></td> 201 - </tr> 202 - <tr> 203 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 204 - </td> 205 - </tr> 206 - <tr> 207 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br> 208 - </b>Attach two of the tubing connector hubs to the short side of 209 -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 210 -the tube will line up as in figure 8.</font><br> 211 - <font face="Verdana, Helvetica, sans-serif" size="2"> 212 - </font> 213 - <table border="0" width="100%"> 214 - <tbody> 215 - <tr> 216 - <td width="50%"><font face="Verdana" size="2"><b>4 x (two each)<br> 217 -</b></font></td> 218 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td> 219 - </tr> 220 - <tr> 221 - <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> 222 - <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> 223 - </tr> 224 - </tbody> 225 - </table> 226 - </td> 227 - <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> 228 -Figure 7.</font></td> 229 - </tr> 230 - <tr> 231 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 232 - </tr> 233 - <tr> 234 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br> 235 - </b>Connect the hubs to the 1.50" tube using two 4-40 x .250" 236 -screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 237 - </font> 238 - <table border="0" width="100%"> 239 - <tbody> 240 - <tr> 241 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 242 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 243 - </tr> 244 - <tr> 245 - <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> 246 - <td width="50%"><font face="Verdana" size="2"> </font></td> 247 - </tr> 248 - </tbody> 249 - </table> 250 - </td> 251 - <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> 252 -Figure 8.</font></td> 253 - </tr> 254 - <tr> 255 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 256 - </tr> 257 - <tr> 258 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br> 259 - </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as 260 -shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 261 - </font> 262 - <table border="0" width="100%"> 263 - <tbody> 264 - <tr> 265 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td> 266 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td> 267 - </tr> 268 - <tr> 269 - <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> 270 - <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> 271 - </tr> 272 - </tbody> 273 - </table> 274 - </td> 275 - <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> 276 -Figure 9.</font></td> 277 - </tr> 278 - <tr> 279 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 280 - </td> 281 - </tr> 282 - <tr> 283 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br> 284 -Insert the 4-40 x .5" Phillips head screw through the hole in the 285 -multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 286 - </font> 287 - <table border="0" width="100%"> 288 - <tbody> 289 - <tr> 290 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 291 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 292 - </tr> 293 - <tr> 294 - <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> 295 - <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> 296 - </tr> 297 - </tbody> 298 - </table> 299 - </td> 300 - <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> 301 -Figure 10.</font></td> 302 - </tr> 303 - <tr> 304 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 305 - </tr> 306 - <tr> 307 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br> 308 - </b>Slide the screw on the forearm assembly through the dampening 309 -discs as shown, and secure with a nylon insert lock nut. The amount of 310 -friction can be adjusted by tightening or loosening the lock nut. Start 311 -with the nut loose, and if the arm seems to wobble a bit, you can 312 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution 313 -- don't over-tighten this! If the arm is operated with the mechanical 314 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 315 - </font> 316 - <table border="0" width="100%"> 317 - <tbody> 318 - <tr> 319 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 320 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 321 - </tr> 322 - <tr> 323 - <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> 324 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 325 - </tr> 326 - </tbody> 327 - </table> 328 - </td> 329 - <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> 330 -Figure 11.</font></td> 331 - </tr> 332 - <tr> 333 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 334 - </tr> 335 - <tr> 336 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step 337 -12.<br> 338 - </b>Figure 12 illustrates a typical standard-size servo with its 339 -output horn (the round white part) at center position. Make sure your 340 -servo looks like the image. The arrows in the image point to the screw 341 -holes you will use.</font></td> 342 - <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> 343 - <font face="Verdana" size="2">Figure 12.</font></td> 344 - </tr> 345 - <tr> 346 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 347 - </td> 348 - </tr> 349 - <tr> 350 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br> 351 -Attach the HS-645HB elbow servo to the bracket as shown using the 3mm 352 -hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to 353 -secure the bracket to the servo horn. Route the shoulder servo wires 354 -over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 355 - </font> 356 - <table border="0" width="100%"> 357 - <tbody> 358 - <tr> 359 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 360 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 361 - </tr> 362 - <tr> 363 - <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> 364 - <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> 365 - </tr> 366 - <tr> 367 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b> </b></font></td> 368 - </tr> 369 - <tr> 370 - <td colspan="2" width="100%"> 371 - <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> 372 - </td> 373 - </tr> 374 - </tbody> 375 - </table> 376 - </td> 377 - <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> 378 -Figure 13.</font></td> 379 - </tr> 380 - <tr> 381 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 382 - </tr> 383 - <tr> 384 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br> 385 - </b>Attach the Little Gripper connector to the Short "C" bracket 386 -using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 387 - </font> 388 - <table border="0" width="100%"> 389 - <tbody> 390 - <tr> 391 - <td width="50%"><font face="Verdana" size="2"><b>2 x </b></font></td> 392 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 393 - </tr> 394 - <tr> 395 - <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> 396 - <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> 397 - </tr> 398 - </tbody> 399 - </table> 400 - </td> 401 - <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> 402 -Figure 14.</font></td> 403 - </tr> 404 - <tr> 405 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 406 - </td> 407 - </tr> 408 - <tr> 409 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br> 410 - </b>Attach the short "C" bracket to the other Multi-purpose 411 -bracket as shown.</font> 412 - <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> 413 -Figure 15-1.</font></p> 414 - </td> 415 - <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> 416 -Figure 15-2.</font></td> 417 - </tr> 418 - <tr> 419 - <td colspan="2" align="left" valign="top" width="100%"> </td> 420 - </tr> 421 - <tr> 422 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br> 423 - </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the 424 -diagram below. Use two #2 x 1/4" tapping screws to secure the bracket 425 -to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 426 - </font> 427 - <table border="0" width="100%"> 428 - <tbody> 429 - <tr> 430 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 431 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 432 - </tr> 433 - <tr> 434 - <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> 435 - <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> 436 - </tr> 437 - <tr> 438 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b> </b></font></td> 439 - </tr> 440 - <tr> 441 - <td colspan="2" width="100%"> 442 - <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> 443 - </td> 444 - </tr> 445 - </tbody> 446 - </table> 447 - </td> 448 - <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> 449 -Figure 16.</font></td> 450 - </tr> 451 - <tr> 452 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 453 - </td> 454 - </tr> 455 - <tr> 456 - <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br> 457 - </b>Attach the Little Grip to the Lexan as shown, using three 458 -4-40 x .375" button head screws and acorn locking nuts. Only three 459 -screws are used (shown in the image) as the body of the gripper servo 460 -is in the way for the fourth.</font> 461 - <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD 462 -may be substituted) servo is aligned to mid-position, and the gripper 463 -is halfway open. Now the servo and gripper will be aligned correctly. 464 -Remove the servo screw and horn. Slide the servo into the gripper from 465 -the bottom. You may need to wiggle it a bit to get it seated properly. 466 -Use the servo screw to attach the servo. Tighten this down, but then 467 -unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 468 - </font> </p> 469 - <table border="0" width="100%"> 470 - <tbody> 471 - <tr> 472 - <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br> 473 -</b></font></td> 474 - <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br> 475 - </b></font></td> 476 - </tr> 477 - <tr> 478 - <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> 479 - <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> 480 - </tr> 481 - </tbody> 482 - </table> 483 -<p><font face="Verdana" size="2"><b>Step 18.</b><br> 484 -Add 6" servo extender cables to the wrist and gripper servos.</font></p> 485 - </td> 486 - <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> 487 -Figure 17.<br> 488 - </font></td> 489 - </tr> 490 - <tr> 491 - <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> 492 -Figure 18.</font></td> 493 - </tr> 494 - <tr> 495 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 496 - </tr> 497 - <tr> 498 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br> 499 - </b>Carefully bend the wrist servo back as far as it will go, and 500 -use wire ties to secure the servo cables as shown. Make sure to leave 501 -slack in the gripper servo cable, don't pull it too tight.</font></td> 502 - <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> 503 -Figure 19.</font></td> 504 - </tr> 505 - <tr> 506 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 507 - </td> 508 - </tr> 509 - <tr> 510 - <td align="left" valign="top" width="50%"> 511 - <p><font face="Verdana" size="2"><b>Step 20.<br> 512 - </b>Carefully stretch the arm forward as far as it will go, and 513 -use wire ties to secure the servo cables as shown. Make sure to leave 514 -slack in the cables, don't pull them too tight. Plug the servos in 515 -according to Table 20.</font></p> 516 - <div align="center"> 517 - <center> 518 - <table border="1" bordercolor="#ffffff" width="320"> 519 - <tbody> 520 - <tr> 521 - <td width="100%"> 522 - <div align="center"> 523 - <table border="1" bordercolor="#000000" width="320"> 524 - <tbody> 525 - <tr> 526 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32 527 -I/O</b></font></td> 528 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td> 529 - </tr> 530 - <tr> 531 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td> 532 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td> 533 - </tr> 534 - <tr> 535 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td> 536 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td> 537 - </tr> 538 - <tr> 539 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td> 540 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td> 541 - </tr> 542 - <tr> 543 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td> 544 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td> 545 - </tr> 546 - <tr> 547 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td> 548 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td> 549 - </tr> 550 - <tr> 551 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td> 552 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist 553 -Rotate (Optional)</font></td> 554 - </tr> 555 - </tbody> 556 - </table> 557 - </div> 558 - </td> 559 - </tr> 560 - <tr> 561 - <td bordercolor="#FFFFFF"> 562 - <p align="center"><font face="Verdana" size="2">Table 20.</font></p> 563 - </td> 564 - </tr> 565 - </tbody> 566 - </table> 567 - </center> 568 - </div> 569 - </td> 570 - <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> 571 -Figure 20.</font></td> 572 - </tr> 573 - <tr> 574 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 575 - </tr> 576 - <tr> 577 - <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 578 -you have the SSC-32U (USB connector), please proceed with Step 21b. If 579 -you have the SSC-32 (serial connector), we'll use LynxTerm to test the 580 -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">. 581 -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 582 -the serial port and apply power. The green LED should light up and stay 583 -on 584 -until it receives a valid serial command. Run the LynxTerm program. If 585 -LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial 586 -and USB-to-serial troubleshooting guide</a>.<br> 587 -<br> 588 - </font><font face="Verdana" size="2"> 589 -Now test the servos and connections by selecting a channel, and moving 590 -the servo carefully using the slider bar. Verify that the servos are 591 -plugged into the channels as listed in Table 20. Easy does it; this is 592 -real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br> 593 - 594 - 595 - </p> 596 - <p><font face="Verdana" size="2"><b><br> 597 - </b></font></p> 598 - 599 - </td> 600 - <td align="left" valign="top" width="50%"> 601 - <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> 602 -Figure 21a (Lynxterm).</font></p> 603 - </td> 604 - </tr> 605 - <tr> 606 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 607 - </tr> 608 - <tr> 609 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 610 -21b (SSC-32U / Servo Utility).<br> 611 - </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo 612 -Sequencer Utility to test the servos and confirm they are all plugged 613 -into their proper servo channels and oriented correctly. If not done so 614 -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 615 -cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run 616 -the program.<br> 617 - <br> 618 -The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate 619 -towards the bottom right of the window is set to 9600 (not 115200). The 620 -software should automatically detect which COM port is connected to the 621 -SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI 622 -(USB to serial) drivers</a> automatically.<br> 623 -<br>Ensure Servos 0 4 are checked off in the software (and therefore 624 -accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are 625 -plugged into the channels as listed in Table 21. Easy does it; this is 626 -real time control, so be careful.<br> 627 -<br> 628 -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> 629 - 630 - <br> 631 - <font face="Verdana" size="2"> </font></td> 632 - <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> 633 - 634 - <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td> 635 - </tr> 636 - <tr> 637 - <td style="vertical-align: top;"><br> 638 - </td> 639 - <td style="vertical-align: top; text-align: center;"><br> 640 - </td> 641 - </tr> 642 -<tr> 643 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br> 644 -Click on the "All = 1500" button in LynxTerm. This will command the 645 -servos to hold center position. Your arm should look like Figure 22. If 646 -any joint is off by more than 15°, then you may have made an error in 647 -assembly.<br> 648 -<br> 649 - </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br> 650 - 651 - 652 - 653 - <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> 654 - 655 -</td> 656 - <td align="left" valign="top" width="50%"> 657 - <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> 658 -Figure 22.</font></p> 659 - </td> 660 - </tr> 661 - <tr> 662 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 663 - </td> 664 - </tr> 665 - <tr> 666 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br> 667 -Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility. 668 -A knob next to each servo will appear (figure 22b). This knob is used 669 -to fine tune the servo's center position. The knob is not intended to 670 -be rotated: click the knob you wish to rotate, keeping the mouse button 671 -down, and drag up and down to rotate the knob. Do this for each servo 672 -until the arm looks like figure 22, and angles are 90 and 180 degrees. 673 -If 674 -any joint is off by more than 15°, then you may have made an error in 675 -assembly.<br> 676 - <br> 677 -Once all servos have been properly positioned, click the icon 678 -"Calibrate" once again, and the offset values will be stored on the 679 -SSC-32 / SSC-32U.<br> 680 -<br> 681 -If you did not purchase the RIOS software, please proceed to step 27.</font></td> 682 - <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> 683 -<font face="Verdana" size="2"> 684 -Figure 22b (SSC-32 Utility).</font></td> 685 - </tr> 686 - <tr> 687 - <td style="vertical-align: top;"><br> 688 - </td> 689 - <td style="vertical-align: top;"><br> 690 - </td> 691 - </tr> 692 -<tr> 693 - <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> 694 - </b>To use the RIOS Arm control software, you need to make one 695 -minor modification. Remove the servo horn screw from the elbow servo. 696 -Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at 697 -the elbow and reattach the servo horn and screw. Note, the Hitec spline 698 -has 24 grooves, so each groove is 15°.</font></td> 699 - <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> 700 -Figure 23.</font></td> 701 - </tr> 702 - <tr> 703 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 704 - </tr> 705 - <tr> 706 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br> 707 -At this point the arms is assembled and tested using LynxTerm. If your 708 -robot came with RIOS, we can now install RIOS and calibrate the arm to 709 -the software. For those using a different program such as FlowBotics or 710 -FlowStone, refer to the software's user guide. Use the RIOS Help File 711 -to calibrate and use the arm.</font> 712 - <p><font face="Verdana" size="2">Install RIOS, following the 713 -on-screen installation prompts. The serial number is on the back of the 714 -CD sleeve.</font></p> 715 - <p><font face="Verdana" size="2">Use the RIOS Help File to 716 -calibrate and use the arm, following Steps 1-7. When you get to Step 8 717 -in the help file, please use the following instructions instead. Click 718 -on the "Arm" button, then click on the "Arm" button in the "Arm size" 719 -section, and then click on the AL5A arm image on the popup screen.</font></p> 720 - <p><font face="Verdana" size="2">Please take the time to do an 721 -accurate calibration. The performance of the arm will only be as good 722 -as the calibration. If the on screen virtual arm does not match the 723 -real arm this is a sign of an inaccurate calibration. After calibration 724 -please study the RIOS manual carefully to learn how to store and 725 -playback sequences for the arm.</font></p> 726 - </td> 727 - <td align="left" valign="top" width="50%"> 728 - <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> 729 - <font face="Verdana" size="2"> 730 -Figure 24 (RIOS).</font></p> 731 - </td> 732 - </tr> 733 - <tr> 734 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 735 - </tr> 736 - <tr> 737 - <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> 738 -To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td> 739 - <td align="left" valign="top" width="50%"> 740 - <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> 741 - <font face="Verdana" size="2"> 742 -Figure 25 (RIOS).</font></p> 743 - </td> 744 - </tr> 745 - <tr> 746 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 747 - </td> 748 - </tr> 749 - <tr> 750 - <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> 751 -Select the Shoulder, servo #2. Move the shoulder slider up to move the 752 -shoulder forward so that it looks like Figure 27-2. Set the Min Deg 753 -angle -90°. Right click on the slider to set this as the Min Position. 754 -Now the servo will not go past this value, and the program now knows 755 -this value is exactly 90° from centered.</font> 756 - <p><font face="Verdana" size="2">Now move the slider down to move 757 -the shoulder backward so that it looks like Figure 27-3. Set the Max 758 -Deg angle to 45°. Right click on the slider to set this as the Max 759 -Position. Now the servo will not go past this value, and the program 760 -now knows this value is exactly 45° from centered.</font></p> 761 - <p><font face="Verdana" size="2">The next step is to read and 762 -study the RIOS users guide. It is accessible by clicking on the help 763 -icon on the main screen or by navigating to the install directory 764 -(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This 765 -manual explains in great detail how to use the arm.</font></p> 766 - 767 - </td> 768 - <td align="left" valign="top" width="50%"> 769 - <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> 770 - 771 -Figure 26-1 (RIOS).</font></p> 772 - </td> 773 - </tr> 774 - <tr> 775 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 776 - </tr> 777 - <tr> 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/al5_90.jpg" border="2" height="240" hspace="10" width="320"><br> 780 -Figure 26-2.</font></p> 781 - </td> 782 - <td align="left" valign="top" width="50%"> 783 - <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> 784 -Figure 26-3.</font></p> 785 - </td> 786 - </tr> 787 - <tr> 788 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 789 - </tr> 790 - <tr> 791 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br> 792 - </b>To connect springs for load-balancing, replace the servo 793 -attachment hardware in the locations shown, following the diagrams 794 -below. Hook the springs together after they're secured.</font> 795 - <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> 796 - <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> 797 - </td> 798 - <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> 799 -Figure 27.</font></td> 800 - </tr> 801 - <tr> 802 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 803 - </td> 804 - </tr> 805 - <tr> 806 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br> 807 - </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically, 808 -but the servos can be damaged by improper use. An example would be if 809 -the arm was told to move to an unobtainable position, like the surface 810 -the arm is mounted to, or by crashing the arm into itself, or other 811 -objects. The elbow servo is the most vulnerable because it holds the 812 -entire weight of the forearm. Load balancing springs should be added to 813 -reduce some of this load.<br> 814 - <br> 815 - </font><font face="Verdana" size="2">If you purchased FlowBotics Studio, 816 -FlowStone or FlowArm, you can proceed with the instruction guide(s) 817 -associated with those programs.</font><br> 818 - 819 - 820 - <p><font color="#ff0000" face="Verdana" size="2"><b>People do not 821 -like holding heavy objects with their arms outstretched in front of 822 -them. Servo based robot arms don't like it much either. Remember, the 823 -most important rule for servo based robot arms: Park the arm when not 824 -in motion! When it's moving or at rest it's usually ok. When it's 825 -holding an object it should do so for the minimum amount of time 826 -required to do the job. You can always touch the servo case to see if 827 -it's getting hot.</b> </font> </p> 828 - </td> 829 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br> 830 -</font></td> 831 - </tr> 832 - </tbody> 833 -</table> 834 - 835 -</body></html> 836 836 {{/html}}