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16 -
17 - <tbody>
18 - <tr>
19 - <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>
20 -
21 - <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
22 - </font></b></p>
23 -
24 -
25 - <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
26 -protection and never touch a powered robot!</font></p>
27 -
28 -
29 - <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
30 -the SSC-32 or the SSC-32U servo controller. Take note of which version you have
31 -and follow each step accordingly, as the connections and configuration
32 -are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
33 - <ul>
34 - <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
35 - <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
36 - <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
37 - <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
38 - </ul>
39 -
40 -
41 -
42 - <p><font face="Verdana" size="2">Note: Loctite / thread lock
43 -can be used on the construction of the aluminum components, though it
44 -is not necessary if the nuts are properly tightened. However,
45 -don't use them with Lexan or plastic, as they are not necessary and may
46 -cause
47 -damage.</font></p>
48 -</td>
49 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a20.jpg" border="2" height="240" hspace="10" width="320"><br>
50 - <b>Image of complete arm (SSC-32 Shown).</b></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>Lexan Preparation.<br>
57 - </b>The lexan pieces have a protective covering that needs to be
58 -removed before assembly. When the laser cuts, the covering melts into
59 -the cut edge which can make removal difficult. If you gently scrape the
60 -cut edge with a flat blade screwdriver, the covering can easily be
61 -lifted and peeled off.</font>
62 - <p><font face="Verdana" size="2">On smaller pieces the coverings
63 -can be more difficult to remove. If you have trouble you can gently
64 -scrape the cut edge, then use duct tape to lift the covering off.</font></p>
65 - <p><font face="Verdana" size="2">For further information on
66 -lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
67 -page</a>.</font></p>
68 - </td>
69 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/lexan01.jpg" border="2" height="240" hspace="10" width="320"><br>
70 -Lexan Preparation.</font></td>
71 - </tr>
72 - <tr>
73 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
74 - </tr>
75 - <tr>
76 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br>
77 -Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
78 -x 1/4" screws and 2-56 nuts.<br>
79 - <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
80 - <table border="0" width="100%">
81 - <tbody>
82 - <tr>
83 - <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
84 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
85 - </tr>
86 - <tr>
87 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
88 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
89 - </tr>
90 - </tbody>
91 - </table>
92 - </font></td>
93 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a01.JPG" border="2" height="240" hspace="10" width="320"><br>
94 -Figure 1.</font></td>
95 - </tr>
96 - <tr>
97 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
98 - </td>
99 - </tr>
100 - <tr>
101 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br>
102 - </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
103 -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
104 -removed from the Lexan parts.</font><font face="Verdana" size="2">
105 -Press down when screwing to ensure there is no gap between the Lexan
106 -and the aluminum, as the screw will be threading the Lexan. </font><br>
107 -
108 - <p align="center"><font face="Verdana"><img src="./AL5A Arm SSC-32U_files/arm02.GIF" border="2" height="96" width="320"></font></p>
109 - </td>
110 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a02.jpg" border="2" height="240" hspace="10" width="320"><br>
111 -Figure 2.</font></td>
112 - </tr>
113 - <tr>
114 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
115 - </tr>
116 - <tr>
117 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br>
118 - </b>Insert the 4-40 x .5" Phillips head screw through the hole in
119 -the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
120 -&nbsp;</font>
121 - <table border="0" width="100%">
122 - <tbody>
123 - <tr>
124 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
125 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
126 - </tr>
127 - <tr>
128 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/500phs.gif" border="2" height="96" width="160"></font></td>
129 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440zpn.GIF" border="2" height="96" width="160"></font></td>
130 - </tr>
131 - </tbody>
132 - </table>
133 - </td>
134 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a03.jpg" border="2" height="240" hspace="10" width="320"><br>
135 -Figure 3.</font></td>
136 - </tr>
137 - <tr>
138 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
139 - </tr>
140 - <tr>
141 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br>
142 - </b>Slide the large "C" bracket end of the bracket assembly over
143 -the screw as shown, and secure with a nylon insert lock nut. The amount
144 -of friction can be adjusted by tightening or loosening the lock nut.
145 -Start with the nut loose, and if the arm seems to wobble a bit, you can
146 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
147 -- don't over-tighten this! If the arm is operated with the mechanical
148 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
149 -&nbsp;</font>
150 - <table border="0" width="100%">
151 - <tbody>
152 - <tr>
153 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
154 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
155 - </tr>
156 - <tr>
157 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440niln.gif" border="2" height="96" width="160"></font></td>
158 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
159 - </tr>
160 - </tbody>
161 - </table>
162 - </td>
163 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a04.jpg" border="2" height="240" hspace="10" width="320"><br>
164 -Figure 4.</font></td>
165 - </tr>
166 - <tr>
167 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
168 - </td>
169 - </tr>
170 - <tr>
171 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
172 -5.<br>
173 - </b>Figure 5 shows a typical mega-size servo with its default
174 -servo horn at center position. You will need to replace this black
175 -servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
176 -
177 - <p><font face="Verdana" size="2">Remove
178 -the servo horn screw,
179 -being careful to not rotate the servo horn itself. Pull the servo horn
180 -off, then press the nylon servo horn in place, as close to the
181 -alignment shown as possible. Replace the servo horn screw. Make sure
182 -your large servo looks like figure 5. The arrows in the image point to
183 -the screw holes you will
184 -use.</font></p>
185 - </td>
186 - <td align="center" valign="bottom" width="50%"><img src="./AL5A Arm SSC-32U_files/mservo01.jpg" border="2" height="240" hspace="10" width="320"><br>
187 - <font face="Verdana" size="2">Figure 5.</font></td>
188 - </tr>
189 - <tr>
190 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
191 - </tr>
192 - <tr>
193 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br>
194 - </b>Attach the HS-755HB servo to the base bracket as shown using
195 -the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
196 -screws to secure the bracket to the servo horn. Route the shoulder
197 -servo wires underneath the servo. Plug the servo into channel 1 on the
198 -SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
199 -take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
200 -&nbsp;</font>
201 - <table border="0" width="100%">
202 - <tbody>
203 - <tr>
204 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
205 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
206 - </tr>
207 - <tr>
208 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/2250phts.gif" border="2" height="96" width="160"></font></td>
209 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/holes.gif" border="2" height="96" width="160"></font></td>
210 - </tr>
211 - <tr>
212 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
213 - </tr>
214 - <tr>
215 - <td colspan="2" width="100%">
216 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/brack02.gif" border="2" height="96" width="320"></font></p>
217 - </td>
218 - </tr>
219 - </tbody>
220 - </table>
221 - </td>
222 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a21.jpg" border="2" height="240" hspace="10" width="320"><br>
223 -Figure 6.</font></td>
224 - </tr>
225 - <tr>
226 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
227 - </td>
228 - </tr>
229 - <tr>
230 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br>
231 - </b>Attach two of the tubing connector hubs to the short side of
232 -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
233 -the tube will line up as in figure 8.</font><br>
234 - <font face="Verdana, Helvetica, sans-serif" size="2">
235 -&nbsp;</font>
236 - <table border="0" width="100%">
237 - <tbody>
238 - <tr>
239 - <td width="50%"><font face="Verdana" size="2"><b>4 x (two each)<br>
240 -</b></font></td>
241 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
242 - </tr>
243 - <tr>
244 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
245 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
246 - </tr>
247 - </tbody>
248 - </table>
249 - </td>
250 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a05.jpg" border="2" height="240" hspace="10" width="320"><br>
251 -Figure 7.</font></td>
252 - </tr>
253 - <tr>
254 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
255 - </tr>
256 - <tr>
257 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br>
258 - </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
259 -screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
260 -&nbsp;</font>
261 - <table border="0" width="100%">
262 - <tbody>
263 - <tr>
264 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
265 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
266 - </tr>
267 - <tr>
268 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/4250hscs.GIF" border="2" height="96" width="160"></font></td>
269 - <td width="50%"><font face="Verdana" size="2">&nbsp;</font></td>
270 - </tr>
271 - </tbody>
272 - </table>
273 - </td>
274 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a06.JPG" border="2" height="240" hspace="10" width="320"><br>
275 -Figure 8.</font></td>
276 - </tr>
277 - <tr>
278 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
279 - </tr>
280 - <tr>
281 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br>
282 - </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
283 -shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
284 -&nbsp;</font>
285 - <table border="0" width="100%">
286 - <tbody>
287 - <tr>
288 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
289 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
290 - </tr>
291 - <tr>
292 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
293 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
294 - </tr>
295 - </tbody>
296 - </table>
297 - </td>
298 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a07.jpg" border="2" height="240" hspace="10" width="320"><br>
299 -Figure 9.</font></td>
300 - </tr>
301 - <tr>
302 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
303 - </td>
304 - </tr>
305 - <tr>
306 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br>
307 -Insert the 4-40 x .5" Phillips head screw through the hole in the
308 -multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
309 -&nbsp;</font>
310 - <table border="0" width="100%">
311 - <tbody>
312 - <tr>
313 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
314 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
315 - </tr>
316 - <tr>
317 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440zpn.GIF" border="2" height="96" width="160"></font></td>
318 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/500phs.gif" border="2" height="96" width="160"></font></td>
319 - </tr>
320 - </tbody>
321 - </table>
322 - </td>
323 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a08.jpg" border="2" height="240" hspace="10" width="320"><br>
324 -Figure 10.</font></td>
325 - </tr>
326 - <tr>
327 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
328 - </tr>
329 - <tr>
330 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br>
331 - </b>Slide the screw on the forearm assembly through the dampening
332 -discs as shown, and secure with a nylon insert lock nut. The amount of
333 -friction can be adjusted by tightening or loosening the lock nut. Start
334 -with the nut loose, and if the arm seems to wobble a bit, you can
335 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
336 -- don't over-tighten this! If the arm is operated with the mechanical
337 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
338 -&nbsp;</font>
339 - <table border="0" width="100%">
340 - <tbody>
341 - <tr>
342 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
343 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
344 - </tr>
345 - <tr>
346 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440niln.gif" border="2" height="96" width="160"></font></td>
347 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
348 - </tr>
349 - </tbody>
350 - </table>
351 - </td>
352 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a09.jpg" border="2" height="240" hspace="10" width="320"><br>
353 -Figure 11.</font></td>
354 - </tr>
355 - <tr>
356 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
357 - </tr>
358 - <tr>
359 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
360 -12.<br>
361 - </b>Figure 12 illustrates a typical standard-size servo with its
362 -output horn (the round white part) at center position. Make sure your
363 -servo looks like the image. The arrows in the image point to the screw
364 -holes you will use.</font></td>
365 - <td align="center" valign="bottom" width="50%"><img src="./AL5A Arm SSC-32U_files/servo02.jpg" border="2" height="240" hspace="10" width="320"><br>
366 - <font face="Verdana" size="2">Figure 12.</font></td>
367 - </tr>
368 - <tr>
369 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
370 - </td>
371 - </tr>
372 - <tr>
373 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br>
374 -Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
375 -hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
376 -secure the bracket to the servo horn. Route the shoulder servo wires
377 -over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
378 -&nbsp;</font>
379 - <table border="0" width="100%">
380 - <tbody>
381 - <tr>
382 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
383 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
384 - </tr>
385 - <tr>
386 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/2250phts.gif" border="2" height="96" width="160"></font></td>
387 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/holes.gif" border="2" height="96" width="160"></font></td>
388 - </tr>
389 - <tr>
390 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
391 - </tr>
392 - <tr>
393 - <td colspan="2" width="100%">
394 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/brack02.gif" border="2" height="96" width="320"></font></p>
395 - </td>
396 - </tr>
397 - </tbody>
398 - </table>
399 - </td>
400 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a10.jpg" border="2" height="240" hspace="10" width="320"><br>
401 -Figure 13.</font></td>
402 - </tr>
403 - <tr>
404 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
405 - </tr>
406 - <tr>
407 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br>
408 - </b>Attach the Little Gripper connector to the Short "C" bracket
409 -using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
410 -&nbsp;</font>
411 - <table border="0" width="100%">
412 - <tbody>
413 - <tr>
414 - <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
415 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
416 - </tr>
417 - <tr>
418 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
419 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
420 - </tr>
421 - </tbody>
422 - </table>
423 - </td>
424 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a11.jpg" border="2" height="240" hspace="10" width="320"><br>
425 -Figure 14.</font></td>
426 - </tr>
427 - <tr>
428 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
429 - </td>
430 - </tr>
431 - <tr>
432 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br>
433 - </b>Attach the short "C" bracket to the other Multi-purpose
434 -bracket as shown.</font>
435 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/ballb02.gif" border="2" height="96" hspace="10" width="320"><br>
436 -Figure 15-1.</font></p>
437 - </td>
438 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a12.jpg" border="2" height="240" hspace="10" width="320"><br>
439 -Figure 15-2.</font></td>
440 - </tr>
441 - <tr>
442 - <td colspan="2" align="left" valign="top" width="100%">&nbsp;</td>
443 - </tr>
444 - <tr>
445 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br>
446 - </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
447 -diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
448 -to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
449 -&nbsp;</font>
450 - <table border="0" width="100%">
451 - <tbody>
452 - <tr>
453 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
454 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
455 - </tr>
456 - <tr>
457 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/2250phts.gif" border="2" height="96" width="160"></font></td>
458 - <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/holes.gif" border="2" height="96" width="160"></font></td>
459 - </tr>
460 - <tr>
461 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
462 - </tr>
463 - <tr>
464 - <td colspan="2" width="100%">
465 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/brack02.gif" border="2" height="96" width="320"></font></p>
466 - </td>
467 - </tr>
468 - </tbody>
469 - </table>
470 - </td>
471 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a13.jpg" border="2" height="240" hspace="10" width="320"><br>
472 -Figure 16.</font></td>
473 - </tr>
474 - <tr>
475 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
476 - </td>
477 - </tr>
478 - <tr>
479 - <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br>
480 - </b>Attach the Little Grip to the Lexan as shown, using three
481 -4-40 x .375" button head screws and acorn locking nuts. Only three
482 -screws are used (shown in the image) as the body of the gripper servo
483 -is in the way for the fourth.</font>
484 - <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
485 -may be substituted) servo is aligned to mid-position, and the gripper
486 -is halfway open. Now the servo and gripper will be aligned correctly.
487 -Remove the servo screw and horn. Slide the servo into the gripper from
488 -the bottom. You may need to wiggle it a bit to get it seated properly.
489 -Use the servo screw to attach the servo. Tighten this down, but then
490 -unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
491 -&nbsp;</font> </p>
492 - <table border="0" width="100%">
493 - <tbody>
494 - <tr>
495 - <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
496 -</b></font></td>
497 - <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
498 - </b></font></td>
499 - </tr>
500 - <tr>
501 - <td width="50%"><font face="Verdana" size="2"><b><img src="./AL5A Arm SSC-32U_files/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
502 - <td width="50%"><font face="Verdana" size="2"><b><img src="./AL5A Arm SSC-32U_files/440nan.GIF" border="2" height="96" width="160"></b></font></td>
503 - </tr>
504 - </tbody>
505 - </table>&nbsp;
506 -<p><font face="Verdana" size="2"><b>Step 18.</b><br>
507 -Add 6" servo extender cables to the wrist and gripper servos.</font></p>
508 - </td>
509 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a14.jpg" border="2" height="240" width="320"><br>
510 -Figure 17.<br>
511 -&nbsp;</font></td>
512 - </tr>
513 - <tr>
514 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a15.jpg" border="2" height="240" width="320"><br>
515 -Figure 18.</font></td>
516 - </tr>
517 - <tr>
518 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
519 - </tr>
520 - <tr>
521 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br>
522 - </b>Carefully bend the wrist servo back as far as it will go, and
523 -use wire ties to secure the servo cables as shown. Make sure to leave
524 -slack in the gripper servo cable, don't pull it too tight.</font></td>
525 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a16.jpg" border="2" height="240" width="320"><br>
526 -Figure 19.</font></td>
527 - </tr>
528 - <tr>
529 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
530 - </td>
531 - </tr>
532 - <tr>
533 - <td align="left" valign="top" width="50%">
534 - <p><font face="Verdana" size="2"><b>Step 20.<br>
535 - </b>Carefully stretch the arm forward as far as it will go, and
536 -use wire ties to secure the servo cables as shown. Make sure to leave
537 -slack in the cables, don't pull them too tight. Plug the servos in
538 -according to Table 20.</font></p>
539 - <div align="center">
540 - <center>
541 - <table border="1" bordercolor="#ffffff" width="320">
542 - <tbody>
543 - <tr>
544 - <td width="100%">
545 - <div align="center">
546 - <table border="1" bordercolor="#000000" width="320">
547 - <tbody>
548 - <tr>
549 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
550 -I/O</b></font></td>
551 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
552 - </tr>
553 - <tr>
554 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
555 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
556 - </tr>
557 - <tr>
558 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
559 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
560 - </tr>
561 - <tr>
562 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
563 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
564 - </tr>
565 - <tr>
566 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
567 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
568 - </tr>
569 - <tr>
570 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
571 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
572 - </tr>
573 - <tr>
574 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
575 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
576 -Rotate (Optional)</font></td>
577 - </tr>
578 - </tbody>
579 - </table>
580 - </div>
581 - </td>
582 - </tr>
583 - <tr>
584 - <td bordercolor="#FFFFFF">
585 - <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
586 - </td>
587 - </tr>
588 - </tbody>
589 - </table>
590 - </center>
591 - </div>
592 - </td>
593 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a17.jpg" border="2" height="240" width="320"><br>
594 -Figure 20.</font></td>
595 - </tr>
596 - <tr>
597 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
598 - </tr>
599 - <tr>
600 - <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
601 -you have the SSC-32U (USB connector), please proceed with Step 21b. If
602 -you have the SSC-32 (serial connector), we'll use LynxTerm to test the
603 -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">.
604 -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
605 -the serial port and apply power. The green LED should light up and stay
606 -on
607 -until it receives a valid serial command. Run the LynxTerm program. If
608 -LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
609 -and USB-to-serial troubleshooting guide</a>.<br>
610 -<br>
611 - </font><font face="Verdana" size="2">
612 -Now test the servos and connections by selecting a channel, and moving
613 -the servo carefully using the slider bar. Verify that the servos are
614 -plugged into the channels as listed in Table 20. Easy does it; this is
615 -real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
616 -
617 -
618 - </p>
619 - <p><font face="Verdana" size="2"><b><br>
620 - </b></font></p>
621 -
622 - </td>
623 - <td align="left" valign="top" width="50%">
624 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/lterm01.jpg" border="2" height="243" hspace="10" width="320"><br>
625 -Figure 21a (Lynxterm).</font></p>
626 - </td>
627 - </tr>
628 - <tr>
629 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
630 - </tr>
631 - <tr>
632 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
633 -21b (SSC-32U / Servo Utility).<br>
634 - </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
635 -Sequencer Utility to test the servos and confirm they are all plugged
636 -into their proper servo channels and oriented correctly. If not done so
637 -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
638 -cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
639 -the program.<br>
640 - <br>
641 -The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
642 -towards the bottom right of the window is set to 9600 (not 115200). The
643 -software should automatically detect which COM port is connected to the
644 -SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
645 -(USB to serial) drivers</a> automatically.<br>
646 -<br>Ensure Servos 0 4 are checked off in the software (and therefore
647 -accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
648 -plugged into the channels as listed in Table 21. Easy does it; this is
649 -real time control, so be careful.<br>
650 -<br>
651 -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>
652 -
653 - <br>
654 - <font face="Verdana" size="2"> </font></td>
655 - <td style="vertical-align: top; text-align: center;"><img src="./AL5A Arm SSC-32U_files/RB-Dsp-07.jpg" border="2" height="240" hspace="10" width="320"><br>
656 -
657 - <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
658 - </tr>
659 - <tr>
660 - <td style="vertical-align: top;"><br>
661 - </td>
662 - <td style="vertical-align: top; text-align: center;"><br>
663 - </td>
664 - </tr>
665 -<tr>
666 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
667 -Click on the "All = 1500" button in LynxTerm. This will command the
668 -servos to hold center position. Your arm should look like Figure 22. If
669 -any joint is off by more than 15°, then you may have made an error in
670 -assembly.<br>
671 -<br>
672 - </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
673 -
674 -
675 -
676 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/lterm02.jpg" border="2" height="120" hspace="10" width="320"></font></p>
677 -
678 -</td>
679 - <td align="left" valign="top" width="50%">
680 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a22.jpg" border="2" height="240" hspace="10" width="320"><br>
681 -Figure 22.</font></p>
682 - </td>
683 - </tr>
684 - <tr>
685 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
686 - </td>
687 - </tr>
688 - <tr>
689 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
690 -Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
691 -A knob next to each servo will appear (figure 22b). This knob is used
692 -to fine tune the servo's center position. The knob is not intended to
693 -be rotated: click the knob you wish to rotate, keeping the mouse button
694 -down, and drag up and down to rotate the knob. Do this for each servo
695 -until the arm looks like figure 22, and angles are 90 and 180 degrees.
696 -If
697 -any joint is off by more than 15°, then you may have made an error in
698 -assembly.<br>
699 - <br>
700 -Once all servos have been properly positioned, click the icon
701 -"Calibrate" once again, and the offset values will be stored on the
702 -SSC-32 / SSC-32U.<br>
703 -<br>
704 -If you did not purchase the RIOS software, please proceed to step 27.</font></td>
705 - <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="" src="./AL5A Arm SSC-32U_files/ssc-32-utility-calibrate.jpg" border="2"><br>
706 -<font face="Verdana" size="2">
707 -Figure 22b (SSC-32 Utility).</font></td>
708 - </tr>
709 - <tr>
710 - <td style="vertical-align: top;"><br>
711 - </td>
712 - <td style="vertical-align: top;"><br>
713 - </td>
714 - </tr>
715 -<tr>
716 - <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>
717 - </b>To use the RIOS Arm control software, you need to make one
718 -minor modification. Remove the servo horn screw from the elbow servo.
719 -Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
720 -the elbow and reattach the servo horn and screw. Note, the Hitec spline
721 -has 24 grooves, so each groove is 15°.</font></td>
722 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a18.jpg" border="2" height="240" width="320"><br>
723 -Figure 23.</font></td>
724 - </tr>
725 - <tr>
726 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
727 - </tr>
728 - <tr>
729 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
730 -At this point the arms is assembled and tested using LynxTerm. If your
731 -robot came with RIOS, we can now install RIOS and calibrate the arm to
732 -the software. For those using a different program such as FlowBotics or
733 -FlowStone, refer to the software's user guide. Use the RIOS Help File
734 -to calibrate and use the arm.</font>
735 - <p><font face="Verdana" size="2">Install RIOS, following the
736 -on-screen installation prompts. The serial number is on the back of the
737 -CD sleeve.</font></p>
738 - <p><font face="Verdana" size="2">Use the RIOS Help File to
739 -calibrate and use the arm, following Steps 1-7. When you get to Step 8
740 -in the help file, please use the following instructions instead. Click
741 -on the "Arm" button, then click on the "Arm" button in the "Arm size"
742 -section, and then click on the AL5A arm image on the popup screen.</font></p>
743 - <p><font face="Verdana" size="2">Please take the time to do an
744 -accurate calibration. The performance of the arm will only be as good
745 -as the calibration. If the on screen virtual arm does not match the
746 -real arm this is a sign of an inaccurate calibration. After calibration
747 -please study the RIOS manual carefully to learn how to store and
748 -playback sequences for the arm.</font></p>
749 - </td>
750 - <td align="left" valign="top" width="50%">
751 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/rios03.jpg" border="2" height="240" hspace="10" width="320"></font><br>
752 - <font face="Verdana" size="2">
753 -Figure 24 (RIOS).</font></p>
754 - </td>
755 - </tr>
756 - <tr>
757 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
758 - </tr>
759 - <tr>
760 - <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>
761 -To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
762 - <td align="left" valign="top" width="50%">
763 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/rios04.jpg" border="2" height="240" hspace="10" width="320"></font><br>
764 - <font face="Verdana" size="2">
765 -Figure 25 (RIOS).</font></p>
766 - </td>
767 - </tr>
768 - <tr>
769 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
770 - </td>
771 - </tr>
772 - <tr>
773 - <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>
774 -Select the Shoulder, servo #2. Move the shoulder slider up to move the
775 -shoulder forward so that it looks like Figure 27-2. Set the Min Deg
776 -angle -90°. Right click on the slider to set this as the Min Position.
777 -Now the servo will not go past this value, and the program now knows
778 -this value is exactly 90° from centered.</font>
779 - <p><font face="Verdana" size="2">Now move the slider down to move
780 -the shoulder backward so that it looks like Figure 27-3. Set the Max
781 -Deg angle to 45°. Right click on the slider to set this as the Max
782 -Position. Now the servo will not go past this value, and the program
783 -now knows this value is exactly 45° from centered.</font></p>
784 - <p><font face="Verdana" size="2">The next step is to read and
785 -study the RIOS users guide. It is accessible by clicking on the help
786 -icon on the main screen or by navigating to the install directory
787 -(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
788 -manual explains in great detail how to use the arm.</font></p>
789 -
790 - </td>
791 - <td align="left" valign="top" width="50%">
792 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/rios01.jpg" border="2" height="240" hspace="10" width="321"><br>
793 -
794 -Figure 26-1 (RIOS).</font></p>
795 - </td>
796 - </tr>
797 - <tr>
798 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
799 - </tr>
800 - <tr>
801 - <td align="left" valign="top" width="50%">
802 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5_90.jpg" border="2" height="240" hspace="10" width="320"><br>
803 -Figure 26-2.</font></p>
804 - </td>
805 - <td align="left" valign="top" width="50%">
806 - <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5_45.jpg" border="2" height="240" hspace="10" width="320"><br>
807 -Figure 26-3.</font></p>
808 - </td>
809 - </tr>
810 - <tr>
811 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
812 - </tr>
813 - <tr>
814 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br>
815 - </b>To connect springs for load-balancing, replace the servo
816 -attachment hardware in the locations shown, following the diagrams
817 -below. Hook the springs together after they're secured.</font>
818 - <p align="center"><img src="./AL5A Arm SSC-32U_files/spr03.gif" border="2" height="96" width="320"></p>
819 - <p align="center"><img src="./AL5A Arm SSC-32U_files/spr02.gif" border="2" height="96" width="320"></p>
820 - </td>
821 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a19.jpg" border="2" height="240" width="320"><br>
822 -Figure 27.</font></td>
823 - </tr>
824 - <tr>
825 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
826 - </td>
827 - </tr>
828 - <tr>
829 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br>
830 - </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
831 -but the servos can be damaged by improper use. An example would be if
832 -the arm was told to move to an unobtainable position, like the surface
833 -the arm is mounted to, or by crashing the arm into itself, or other
834 -objects. The elbow servo is the most vulnerable because it holds the
835 -entire weight of the forearm. Load balancing springs should be added to
836 -reduce some of this load.<br>
837 - <br>
838 - </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
839 -FlowStone or FlowArm, you can proceed with the instruction guide(s)
840 -associated with those programs.</font><br>
841 -
842 -
843 - <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
844 -like holding heavy objects with their arms outstretched in front of
845 -them. Servo based robot arms don't like it much either. Remember, the
846 -most important rule for servo based robot arms: Park the arm when not
847 -in motion! When it's moving or at rest it's usually ok. When it's
848 -holding an object it should do so for the minimum amount of time
849 -required to do the job. You can always touch the servo case to see if
850 -it's getting hot.</b> </font> </p>
851 - </td>
852 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br>
853 -</font></td>
854 - </tr>
855 - </tbody>
856 -</table>
857 -
858 -</body></html>
859 859  {{/html}}
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