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1 1  {{html wiki="false" clean="true"}}
2 -<table border="0" cellpadding="0" cellspacing="0">
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 -
7 - <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
8 - </font></b></p>
9 9  
10 -
11 - <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
12 -protection and never touch a powered robot!</font></p>
13 -
14 -
15 - <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
16 -the SSC-32 or the SSC-32U servo controller. Take note of which version you have
17 -and follow each step accordingly, as the connections and configuration
18 -are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
19 - <ul>
20 - <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
21 - <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
22 - <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
23 - <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
24 - </ul>
25 -
26 -
27 -
28 - <p><font face="Verdana" size="2">Note: Loctite / thread lock
29 -can be used on the construction of the aluminum components, though it
30 -is not necessary if the nuts are properly tightened. However,
31 -don't use them with Lexan or plastic, as they are not necessary and may
32 -cause
33 -damage.</font></p>
34 -</td>
35 - <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>
36 - <b>Image of complete arm (SSC-32 Shown).</b></font></td>
37 - </tr>
38 - <tr>
39 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
40 - </tr>
41 - <tr>
42 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Lexan Preparation.<br>
43 - </b>The lexan pieces have a protective covering that needs to be
44 -removed before assembly. When the laser cuts, the covering melts into
45 -the cut edge which can make removal difficult. If you gently scrape the
46 -cut edge with a flat blade screwdriver, the covering can easily be
47 -lifted and peeled off.</font>
48 - <p><font face="Verdana" size="2">On smaller pieces the coverings
49 -can be more difficult to remove. If you have trouble you can gently
50 -scrape the cut edge, then use duct tape to lift the covering off.</font></p>
51 - <p><font face="Verdana" size="2">For further information on
52 -lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
53 -page</a>.</font></p>
54 - </td>
55 - <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>
56 -Lexan Preparation.</font></td>
57 - </tr>
58 - <tr>
59 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
60 - </tr>
61 - <tr>
62 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br>
63 -Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
64 -x 1/4" screws and 2-56 nuts.<br>
65 - <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
66 - <table border="0" width="100%">
67 - <tbody>
68 - <tr>
69 - <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
70 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
71 - </tr>
72 - <tr>
73 - <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>
74 - <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>
75 - </tr>
76 - </tbody>
77 - </table>
78 - </font></td>
79 - <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>
80 -Figure 1.</font></td>
81 - </tr>
82 - <tr>
83 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
84 - </td>
85 - </tr>
86 - <tr>
87 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br>
88 - </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
89 -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
90 -removed from the Lexan parts.</font><font face="Verdana" size="2">
91 -Press down when screwing to ensure there is no gap between the Lexan
92 -and the aluminum, as the screw will be threading the Lexan. </font><br>
93 -
94 - <p align="center"><font face="Verdana"><img src="./AL5A Arm SSC-32U_files/arm02.GIF" border="2" height="96" width="320"></font></p>
95 - </td>
96 - <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>
97 -Figure 2.</font></td>
98 - </tr>
99 - <tr>
100 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
101 - </tr>
102 - <tr>
103 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br>
104 - </b>Insert the 4-40 x .5" Phillips head screw through the hole in
105 -the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
106 -&nbsp;</font>
107 - <table border="0" width="100%">
108 - <tbody>
109 - <tr>
110 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
111 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
112 - </tr>
113 - <tr>
114 - <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>
115 - <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>
116 - </tr>
117 - </tbody>
118 - </table>
119 - </td>
120 - <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>
121 -Figure 3.</font></td>
122 - </tr>
123 - <tr>
124 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
125 - </tr>
126 - <tr>
127 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br>
128 - </b>Slide the large "C" bracket end of the bracket assembly over
129 -the screw as shown, and secure with a nylon insert lock nut. The amount
130 -of friction can be adjusted by tightening or loosening the lock nut.
131 -Start with the nut loose, and if the arm seems to wobble a bit, you can
132 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
133 -- don't over-tighten this! If the arm is operated with the mechanical
134 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
135 -&nbsp;</font>
136 - <table border="0" width="100%">
137 - <tbody>
138 - <tr>
139 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
140 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
141 - </tr>
142 - <tr>
143 - <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>
144 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
145 - </tr>
146 - </tbody>
147 - </table>
148 - </td>
149 - <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>
150 -Figure 4.</font></td>
151 - </tr>
152 - <tr>
153 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
154 - </td>
155 - </tr>
156 - <tr>
157 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
158 -5.<br>
159 - </b>Figure 5 shows a typical mega-size servo with its default
160 -servo horn at center position. You will need to replace this black
161 -servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
162 -
163 - <p><font face="Verdana" size="2">Remove
164 -the servo horn screw,
165 -being careful to not rotate the servo horn itself. Pull the servo horn
166 -off, then press the nylon servo horn in place, as close to the
167 -alignment shown as possible. Replace the servo horn screw. Make sure
168 -your large servo looks like figure 5. The arrows in the image point to
169 -the screw holes you will
170 -use.</font></p>
171 - </td>
172 - <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>
173 - <font face="Verdana" size="2">Figure 5.</font></td>
174 - </tr>
175 - <tr>
176 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
177 - </tr>
178 - <tr>
179 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br>
180 - </b>Attach the HS-755HB servo to the base bracket as shown using
181 -the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
182 -screws to secure the bracket to the servo horn. Route the shoulder
183 -servo wires underneath the servo. Plug the servo into channel 1 on the
184 -SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
185 -take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
186 -&nbsp;</font>
187 - <table border="0" width="100%">
188 - <tbody>
189 - <tr>
190 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
191 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
192 - </tr>
193 - <tr>
194 - <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>
195 - <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>
196 - </tr>
197 - <tr>
198 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
199 - </tr>
200 - <tr>
201 - <td colspan="2" width="100%">
202 - <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>
203 - </td>
204 - </tr>
205 - </tbody>
206 - </table>
207 - </td>
208 - <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>
209 -Figure 6.</font></td>
210 - </tr>
211 - <tr>
212 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
213 - </td>
214 - </tr>
215 - <tr>
216 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br>
217 - </b>Attach two of the tubing connector hubs to the short side of
218 -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
219 -the tube will line up as in figure 8.</font><br>
220 - <font face="Verdana, Helvetica, sans-serif" size="2">
221 -&nbsp;</font>
222 - <table border="0" width="100%">
223 - <tbody>
224 - <tr>
225 - <td width="50%"><font face="Verdana" size="2"><b>4 x (two each)<br>
226 -</b></font></td>
227 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
228 - </tr>
229 - <tr>
230 - <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>
231 - <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>
232 - </tr>
233 - </tbody>
234 - </table>
235 - </td>
236 - <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>
237 -Figure 7.</font></td>
238 - </tr>
239 - <tr>
240 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
241 - </tr>
242 - <tr>
243 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br>
244 - </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
245 -screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
246 -&nbsp;</font>
247 - <table border="0" width="100%">
248 - <tbody>
249 - <tr>
250 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
251 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
252 - </tr>
253 - <tr>
254 - <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>
255 - <td width="50%"><font face="Verdana" size="2">&nbsp;</font></td>
256 - </tr>
257 - </tbody>
258 - </table>
259 - </td>
260 - <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>
261 -Figure 8.</font></td>
262 - </tr>
263 - <tr>
264 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
265 - </tr>
266 - <tr>
267 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br>
268 - </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
269 -shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
270 -&nbsp;</font>
271 - <table border="0" width="100%">
272 - <tbody>
273 - <tr>
274 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
275 - <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
276 - </tr>
277 - <tr>
278 - <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>
279 - <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>
280 - </tr>
281 - </tbody>
282 - </table>
283 - </td>
284 - <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>
285 -Figure 9.</font></td>
286 - </tr>
287 - <tr>
288 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
289 - </td>
290 - </tr>
291 - <tr>
292 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br>
293 -Insert the 4-40 x .5" Phillips head screw through the hole in the
294 -multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
295 -&nbsp;</font>
296 - <table border="0" width="100%">
297 - <tbody>
298 - <tr>
299 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
300 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
301 - </tr>
302 - <tr>
303 - <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>
304 - <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>
305 - </tr>
306 - </tbody>
307 - </table>
308 - </td>
309 - <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>
310 -Figure 10.</font></td>
311 - </tr>
312 - <tr>
313 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
314 - </tr>
315 - <tr>
316 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br>
317 - </b>Slide the screw on the forearm assembly through the dampening
318 -discs as shown, and secure with a nylon insert lock nut. The amount of
319 -friction can be adjusted by tightening or loosening the lock nut. Start
320 -with the nut loose, and if the arm seems to wobble a bit, you can
321 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
322 -- don't over-tighten this! If the arm is operated with the mechanical
323 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
324 -&nbsp;</font>
325 - <table border="0" width="100%">
326 - <tbody>
327 - <tr>
328 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
329 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
330 - </tr>
331 - <tr>
332 - <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>
333 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
334 - </tr>
335 - </tbody>
336 - </table>
337 - </td>
338 - <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>
339 -Figure 11.</font></td>
340 - </tr>
341 - <tr>
342 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
343 - </tr>
344 - <tr>
345 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
346 -12.<br>
347 - </b>Figure 12 illustrates a typical standard-size servo with its
348 -output horn (the round white part) at center position. Make sure your
349 -servo looks like the image. The arrows in the image point to the screw
350 -holes you will use.</font></td>
351 - <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>
352 - <font face="Verdana" size="2">Figure 12.</font></td>
353 - </tr>
354 - <tr>
355 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
356 - </td>
357 - </tr>
358 - <tr>
359 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br>
360 -Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
361 -hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
362 -secure the bracket to the servo horn. Route the shoulder servo wires
363 -over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
364 -&nbsp;</font>
365 - <table border="0" width="100%">
366 - <tbody>
367 - <tr>
368 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
369 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
370 - </tr>
371 - <tr>
372 - <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>
373 - <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>
374 - </tr>
375 - <tr>
376 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
377 - </tr>
378 - <tr>
379 - <td colspan="2" width="100%">
380 - <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>
381 - </td>
382 - </tr>
383 - </tbody>
384 - </table>
385 - </td>
386 - <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>
387 -Figure 13.</font></td>
388 - </tr>
389 - <tr>
390 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
391 - </tr>
392 - <tr>
393 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br>
394 - </b>Attach the Little Gripper connector to the Short "C" bracket
395 -using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
396 -&nbsp;</font>
397 - <table border="0" width="100%">
398 - <tbody>
399 - <tr>
400 - <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
401 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
402 - </tr>
403 - <tr>
404 - <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>
405 - <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>
406 - </tr>
407 - </tbody>
408 - </table>
409 - </td>
410 - <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>
411 -Figure 14.</font></td>
412 - </tr>
413 - <tr>
414 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
415 - </td>
416 - </tr>
417 - <tr>
418 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br>
419 - </b>Attach the short "C" bracket to the other Multi-purpose
420 -bracket as shown.</font>
421 - <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>
422 -Figure 15-1.</font></p>
423 - </td>
424 - <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>
425 -Figure 15-2.</font></td>
426 - </tr>
427 - <tr>
428 - <td colspan="2" align="left" valign="top" width="100%">&nbsp;</td>
429 - </tr>
430 - <tr>
431 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br>
432 - </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
433 -diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
434 -to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
435 -&nbsp;</font>
436 - <table border="0" width="100%">
437 - <tbody>
438 - <tr>
439 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
440 - <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
441 - </tr>
442 - <tr>
443 - <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>
444 - <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>
445 - </tr>
446 - <tr>
447 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
448 - </tr>
449 - <tr>
450 - <td colspan="2" width="100%">
451 - <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>
452 - </td>
453 - </tr>
454 - </tbody>
455 - </table>
456 - </td>
457 - <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>
458 -Figure 16.</font></td>
459 - </tr>
460 - <tr>
461 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
462 - </td>
463 - </tr>
464 - <tr>
465 - <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br>
466 - </b>Attach the Little Grip to the Lexan as shown, using three
467 -4-40 x .375" button head screws and acorn locking nuts. Only three
468 -screws are used (shown in the image) as the body of the gripper servo
469 -is in the way for the fourth.</font>
470 - <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
471 -may be substituted) servo is aligned to mid-position, and the gripper
472 -is halfway open. Now the servo and gripper will be aligned correctly.
473 -Remove the servo screw and horn. Slide the servo into the gripper from
474 -the bottom. You may need to wiggle it a bit to get it seated properly.
475 -Use the servo screw to attach the servo. Tighten this down, but then
476 -unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
477 -&nbsp;</font> </p>
478 - <table border="0" width="100%">
479 - <tbody>
480 - <tr>
481 - <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
482 -</b></font></td>
483 - <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
484 - </b></font></td>
485 - </tr>
486 - <tr>
487 - <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>
488 - <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>
489 - </tr>
490 - </tbody>
491 - </table>&nbsp;
492 -<p><font face="Verdana" size="2"><b>Step 18.</b><br>
493 -Add 6" servo extender cables to the wrist and gripper servos.</font></p>
494 - </td>
495 - <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>
496 -Figure 17.<br>
497 -&nbsp;</font></td>
498 - </tr>
499 - <tr>
500 - <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>
501 -Figure 18.</font></td>
502 - </tr>
503 - <tr>
504 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
505 - </tr>
506 - <tr>
507 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br>
508 - </b>Carefully bend the wrist servo back as far as it will go, and
509 -use wire ties to secure the servo cables as shown. Make sure to leave
510 -slack in the gripper servo cable, don't pull it too tight.</font></td>
511 - <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>
512 -Figure 19.</font></td>
513 - </tr>
514 - <tr>
515 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
516 - </td>
517 - </tr>
518 - <tr>
519 - <td align="left" valign="top" width="50%">
520 - <p><font face="Verdana" size="2"><b>Step 20.<br>
521 - </b>Carefully stretch the arm forward as far as it will go, and
522 -use wire ties to secure the servo cables as shown. Make sure to leave
523 -slack in the cables, don't pull them too tight. Plug the servos in
524 -according to Table 20.</font></p>
525 - <div align="center">
526 - <center>
527 - <table border="1" bordercolor="#ffffff" width="320">
528 - <tbody>
529 - <tr>
530 - <td width="100%">
531 - <div align="center">
532 - <table border="1" bordercolor="#000000" width="320">
533 - <tbody>
534 - <tr>
535 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
536 -I/O</b></font></td>
537 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
538 - </tr>
539 - <tr>
540 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
541 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
542 - </tr>
543 - <tr>
544 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
545 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
546 - </tr>
547 - <tr>
548 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
549 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
550 - </tr>
551 - <tr>
552 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
553 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
554 - </tr>
555 - <tr>
556 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
557 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
558 - </tr>
559 - <tr>
560 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
561 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
562 -Rotate (Optional)</font></td>
563 - </tr>
564 - </tbody>
565 - </table>
566 - </div>
567 - </td>
568 - </tr>
569 - <tr>
570 - <td bordercolor="#FFFFFF">
571 - <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
572 - </td>
573 - </tr>
574 - </tbody>
575 - </table>
576 - </center>
577 - </div>
578 - </td>
579 - <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>
580 -Figure 20.</font></td>
581 - </tr>
582 - <tr>
583 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
584 - </tr>
585 - <tr>
586 - <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
587 -you have the SSC-32U (USB connector), please proceed with Step 21b. If
588 -you have the SSC-32 (serial connector), we'll use LynxTerm to test the
589 -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">.
590 -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
591 -the serial port and apply power. The green LED should light up and stay
592 -on
593 -until it receives a valid serial command. Run the LynxTerm program. If
594 -LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
595 -and USB-to-serial troubleshooting guide</a>.<br>
596 -<br>
597 - </font><font face="Verdana" size="2">
598 -Now test the servos and connections by selecting a channel, and moving
599 -the servo carefully using the slider bar. Verify that the servos are
600 -plugged into the channels as listed in Table 20. Easy does it; this is
601 -real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
602 -
603 -
604 - </p>
605 - <p><font face="Verdana" size="2"><b><br>
606 - </b></font></p>
607 -
608 - </td>
609 - <td align="left" valign="top" width="50%">
610 - <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>
611 -Figure 21a (Lynxterm).</font></p>
612 - </td>
613 - </tr>
614 - <tr>
615 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
616 - </tr>
617 - <tr>
618 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
619 -21b (SSC-32U / Servo Utility).<br>
620 - </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
621 -Sequencer Utility to test the servos and confirm they are all plugged
622 -into their proper servo channels and oriented correctly. If not done so
623 -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
624 -cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
625 -the program.<br>
626 - <br>
627 -The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
628 -towards the bottom right of the window is set to 9600 (not 115200). The
629 -software should automatically detect which COM port is connected to the
630 -SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
631 -(USB to serial) drivers</a> automatically.<br>
632 -<br>Ensure Servos 0 4 are checked off in the software (and therefore
633 -accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
634 -plugged into the channels as listed in Table 21. Easy does it; this is
635 -real time control, so be careful.<br>
636 -<br>
637 -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>
638 -
639 - <br>
640 - <font face="Verdana" size="2"> </font></td>
641 - <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>
642 -
643 - <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
644 - </tr>
645 - <tr>
646 - <td style="vertical-align: top;"><br>
647 - </td>
648 - <td style="vertical-align: top; text-align: center;"><br>
649 - </td>
650 - </tr>
651 -<tr>
652 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
653 -Click on the "All = 1500" button in LynxTerm. This will command the
654 -servos to hold center position. Your arm should look like Figure 22. If
655 -any joint is off by more than 15°, then you may have made an error in
656 -assembly.<br>
657 -<br>
658 - </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
659 -
660 -
661 -
662 - <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>
663 -
664 -</td>
665 - <td align="left" valign="top" width="50%">
666 - <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>
667 -Figure 22.</font></p>
668 - </td>
669 - </tr>
670 - <tr>
671 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
672 - </td>
673 - </tr>
674 - <tr>
675 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
676 -Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
677 -A knob next to each servo will appear (figure 22b). This knob is used
678 -to fine tune the servo's center position. The knob is not intended to
679 -be rotated: click the knob you wish to rotate, keeping the mouse button
680 -down, and drag up and down to rotate the knob. Do this for each servo
681 -until the arm looks like figure 22, and angles are 90 and 180 degrees.
682 -If
683 -any joint is off by more than 15°, then you may have made an error in
684 -assembly.<br>
685 - <br>
686 -Once all servos have been properly positioned, click the icon
687 -"Calibrate" once again, and the offset values will be stored on the
688 -SSC-32 / SSC-32U.<br>
689 -<br>
690 -If you did not purchase the RIOS software, please proceed to step 27.</font></td>
691 - <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>
692 -<font face="Verdana" size="2">
693 -Figure 22b (SSC-32 Utility).</font></td>
694 - </tr>
695 - <tr>
696 - <td style="vertical-align: top;"><br>
697 - </td>
698 - <td style="vertical-align: top;"><br>
699 - </td>
700 - </tr>
701 -<tr>
702 - <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>
703 - </b>To use the RIOS Arm control software, you need to make one
704 -minor modification. Remove the servo horn screw from the elbow servo.
705 -Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
706 -the elbow and reattach the servo horn and screw. Note, the Hitec spline
707 -has 24 grooves, so each groove is 15°.</font></td>
708 - <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>
709 -Figure 23.</font></td>
710 - </tr>
711 - <tr>
712 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
713 - </tr>
714 - <tr>
715 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
716 -At this point the arms is assembled and tested using LynxTerm. If your
717 -robot came with RIOS, we can now install RIOS and calibrate the arm to
718 -the software. For those using a different program such as FlowBotics or
719 -FlowStone, refer to the software's user guide. Use the RIOS Help File
720 -to calibrate and use the arm.</font>
721 - <p><font face="Verdana" size="2">Install RIOS, following the
722 -on-screen installation prompts. The serial number is on the back of the
723 -CD sleeve.</font></p>
724 - <p><font face="Verdana" size="2">Use the RIOS Help File to
725 -calibrate and use the arm, following Steps 1-7. When you get to Step 8
726 -in the help file, please use the following instructions instead. Click
727 -on the "Arm" button, then click on the "Arm" button in the "Arm size"
728 -section, and then click on the AL5A arm image on the popup screen.</font></p>
729 - <p><font face="Verdana" size="2">Please take the time to do an
730 -accurate calibration. The performance of the arm will only be as good
731 -as the calibration. If the on screen virtual arm does not match the
732 -real arm this is a sign of an inaccurate calibration. After calibration
733 -please study the RIOS manual carefully to learn how to store and
734 -playback sequences for the arm.</font></p>
735 - </td>
736 - <td align="left" valign="top" width="50%">
737 - <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>
738 - <font face="Verdana" size="2">
739 -Figure 24 (RIOS).</font></p>
740 - </td>
741 - </tr>
742 - <tr>
743 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
744 - </tr>
745 - <tr>
746 - <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>
747 -To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
748 - <td align="left" valign="top" width="50%">
749 - <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>
750 - <font face="Verdana" size="2">
751 -Figure 25 (RIOS).</font></p>
752 - </td>
753 - </tr>
754 - <tr>
755 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
756 - </td>
757 - </tr>
758 - <tr>
759 - <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>
760 -Select the Shoulder, servo #2. Move the shoulder slider up to move the
761 -shoulder forward so that it looks like Figure 27-2. Set the Min Deg
762 -angle -90°. Right click on the slider to set this as the Min Position.
763 -Now the servo will not go past this value, and the program now knows
764 -this value is exactly 90° from centered.</font>
765 - <p><font face="Verdana" size="2">Now move the slider down to move
766 -the shoulder backward so that it looks like Figure 27-3. Set the Max
767 -Deg angle to 45°. Right click on the slider to set this as the Max
768 -Position. Now the servo will not go past this value, and the program
769 -now knows this value is exactly 45° from centered.</font></p>
770 - <p><font face="Verdana" size="2">The next step is to read and
771 -study the RIOS users guide. It is accessible by clicking on the help
772 -icon on the main screen or by navigating to the install directory
773 -(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
774 -manual explains in great detail how to use the arm.</font></p>
775 -
776 - </td>
777 - <td align="left" valign="top" width="50%">
778 - <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>
779 -
780 -Figure 26-1 (RIOS).</font></p>
781 - </td>
782 - </tr>
783 - <tr>
784 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
785 - </tr>
786 - <tr>
787 - <td align="left" valign="top" width="50%">
788 - <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>
789 -Figure 26-2.</font></p>
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/al5_45.jpg" border="2" height="240" hspace="10" width="320"><br>
793 -Figure 26-3.</font></p>
794 - </td>
795 - </tr>
796 - <tr>
797 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
798 - </tr>
799 - <tr>
800 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br>
801 - </b>To connect springs for load-balancing, replace the servo
802 -attachment hardware in the locations shown, following the diagrams
803 -below. Hook the springs together after they're secured.</font>
804 - <p align="center"><img src="./AL5A Arm SSC-32U_files/spr03.gif" border="2" height="96" width="320"></p>
805 - <p align="center"><img src="./AL5A Arm SSC-32U_files/spr02.gif" border="2" height="96" width="320"></p>
806 - </td>
807 - <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>
808 -Figure 27.</font></td>
809 - </tr>
810 - <tr>
811 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
812 - </td>
813 - </tr>
814 - <tr>
815 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br>
816 - </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
817 -but the servos can be damaged by improper use. An example would be if
818 -the arm was told to move to an unobtainable position, like the surface
819 -the arm is mounted to, or by crashing the arm into itself, or other
820 -objects. The elbow servo is the most vulnerable because it holds the
821 -entire weight of the forearm. Load balancing springs should be added to
822 -reduce some of this load.<br>
823 - <br>
824 - </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
825 -FlowStone or FlowArm, you can proceed with the instruction guide(s)
826 -associated with those programs.</font><br>
827 -
828 -
829 - <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
830 -like holding heavy objects with their arms outstretched in front of
831 -them. Servo based robot arms don't like it much either. Remember, the
832 -most important rule for servo based robot arms: Park the arm when not
833 -in motion! When it's moving or at rest it's usually ok. When it's
834 -holding an object it should do so for the minimum amount of time
835 -required to do the job. You can always touch the servo case to see if
836 -it's getting hot.</b> </font> </p>
837 - </td>
838 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br>
839 -</font></td>
840 - </tr>
841 - </tbody>
842 -</table>
843 -
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