AL5A Arm Assembly Instructions Rev. 2.1

If you have not done so before, download and install <a href="http://www.lynxmotion.com/p-567-free-download-lynxterm.aspx" target="_blank">LynxTerm v1.08</a> or higher. Connect the SSC-32 to

585

the serial port and apply power. The green LED should light up and stay

586

on

587

until it receives a valid serial command. Run the LynxTerm program. If

588

LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial

589

and USB-to-serial troubleshooting guide</a>.

590

591

592

Now test the servos and connections by selecting a channel, and moving

593

the servo carefully using the slider bar. Verify that the servos are

594

plugged into the channels as listed in Table 20. Easy does it; this is

595

real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.

</td>

Figure 21a (Lynxterm).

</td>

</tr>

<tr>

</tr>

<tr>

<td style="vertical-align: top;">Step

613

21b (SSC-32U / Servo Utility).

614

Just like in the base instructions, we will use the SSC-32 Servo

615

Sequencer Utility to test the servos and confirm they are all plugged

616

into their proper servo channels and oriented correctly. If not done so

617

before, download and install the <a href="http://www.lynxmotion.com/p-895-free-download-ssc-32-servo-sequencer-utility-created-using-flowbotics-studio.aspx" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect the USB

618

cable and power the board using the on/off switch. Run

619

the program.

620

621

The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate

622

towards the bottom right of the window is set to 9600 (not 115200). The

623

software should automatically detect which COM port is connected to the

624

SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI

625

(USB to serial) drivers</a> automatically.

626

Ensure Servos 0 4 are checked off in the software (and therefore

627

accessible). You can now move the sliders to see each servo rotate. Verify that the servos are

628

plugged into the channels as listed in Table 21. Easy does it; this is

629

real time control, so be careful.

630

631

For more information, please consult the <a href="http://www.flowbotics.com/manuals/ssc-32_servo_sequencer.pdf" target="_blank">SSC-32 Servo Sequencer Utility manual</a>.

</td>

Figure 21b (SSC-32 Utility).</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td align="left" valign="top" width="50%">Step 22a (SSC-32 / Lynxterm).

647

Click on the "All = 1500" button in LynxTerm. This will command the

648

servos to hold center position. Your arm should look like Figure 22. If

649

any joint is off by more than 15°, then you may have made an error in

650

assembly.

651

652

If you did not purchase RIOS software, please proceed to step 27.

</td>

Figure 22.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td style="vertical-align: top;">Step 22b (SSC-32U / Servo Utility).

670

Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.

671

A knob next to each servo will appear (figure 22b). This knob is used

672

to fine tune the servo's center position. The knob is not intended to

673

be rotated: click the knob you wish to rotate, keeping the mouse button

674

down, and drag up and down to rotate the knob. Do this for each servo

675

until the arm looks like figure 22, and angles are 90 and 180 degrees.

676

If

677

any joint is off by more than 15°, then you may have made an error in

678

assembly.

679

680

Once all servos have been properly positioned, click the icon

681

"Calibrate" once again, and the offset values will be stored on the

682

SSC-32 / SSC-32U.

683

684

If you did not purchase the RIOS software, please proceed to step 27.</td>

685

686

687

Figure 22b (SSC-32 Utility).</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td align="left" valign="top" width="50%">Step 23 (RIOS Users Only).

697

To use the RIOS Arm control software, you need to make one

698

minor modification. Remove the servo horn screw from the elbow servo.

699

Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at

700

the elbow and reattach the servo horn and screw. Note, the Hitec spline

701

has 24 grooves, so each groove is 15°.</td>

Figure 23.</td>

</tr>

<tr>

</tr>

<tr>

<td align="left" valign="top" width="50%">Step 24 (RIOS Users Only).

710

At this point the arms is assembled and tested using LynxTerm. If your

711

robot came with RIOS, we can now install RIOS and calibrate the arm to

712

the software. For those using a different program such as FlowBotics or

713

FlowStone, refer to the software's user guide. Use the RIOS Help File

714

to calibrate and use the arm.

715

Install RIOS, following the

716

on-screen installation prompts. The serial number is on the back of the

717

CD sleeve.

718

Use the RIOS Help File to

719

calibrate and use the arm, following Steps 1-7. When you get to Step 8

720

in the help file, please use the following instructions instead. Click

721

on the "Arm" button, then click on the "Arm" button in the "Arm size"

722

section, and then click on the AL5A arm image on the popup screen.

723

Please take the time to do an

724

accurate calibration. The performance of the arm will only be as good

725

as the calibration. If the on screen virtual arm does not match the

726

real arm this is a sign of an inaccurate calibration. After calibration

727

please study the RIOS manual carefully to learn how to store and

728

playback sequences for the arm.

</td>

Figure 24 (RIOS).

</td>

</tr>

<tr>

</tr>

<tr>

<td align="left" valign="top" width="50%">Step 25 (RIOS Users Only).

741

To calibrate the arm's shoulder servo, click the "SSC-32" button.</td>

Figure 25 (RIOS).

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td align="left" valign="top" width="50%">Step 26 (RIOS Users Only).

754

Select the Shoulder, servo #2. Move the shoulder slider up to move the

755

shoulder forward so that it looks like Figure 27-2. Set the Min Deg

756

angle -90°. Right click on the slider to set this as the Min Position.

757

Now the servo will not go past this value, and the program now knows

758

this value is exactly 90° from centered.

759

Now move the slider down to move

760

the shoulder backward so that it looks like Figure 27-3. Set the Max

761

Deg angle to 45°. Right click on the slider to set this as the Max

762

Position. Now the servo will not go past this value, and the program

763

now knows this value is exactly 45° from centered.

764

The next step is to read and

765

study the RIOS users guide. It is accessible by clicking on the help

766

icon on the main screen or by navigating to the install directory

767

(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This

768

manual explains in great detail how to use the arm.

</td>

Figure 26-1 (RIOS).

</td>

</tr>

<tr>

</tr>

<tr>

Figure 26-2.

</td>

Figure 26-3.

</td>

</tr>

<tr>

</tr>

<tr>

<td align="left" valign="top" width="50%">Step 27.

795

To connect springs for load-balancing, replace the servo

796

attachment hardware in the locations shown, following the diagrams

797

below. Hook the springs together after they're secured.

</td>

Figure 27.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td align="left" valign="top" width="50%">Step 28.

810

The arm assembly is complete. The arm is robust mechanically,

811

but the servos can be damaged by improper use. An example would be if

812

the arm was told to move to an unobtainable position, like the surface

813

the arm is mounted to, or by crashing the arm into itself, or other

814

objects. The elbow servo is the most vulnerable because it holds the

815

entire weight of the forearm. Load balancing springs should be added to

816

reduce some of this load.

817

818

If you purchased FlowBotics Studio,

819

FlowStone or FlowArm, you can proceed with the instruction guide(s)

820

associated with those programs.

People do not

like holding heavy objects with their arms outstretched in front of

825

them. Servo based robot arms don't like it much either. Remember, the

826

most important rule for servo based robot arms: Park the arm when not

827

in motion! When it's moving or at rest it's usually ok. When it's

828

holding an object it should do so for the minimum amount of time

829

required to do the job. You can always touch the servo case to see if

it's getting hot.

</td>

</td>

</tr>

</tbody>

</table>

</body></html>

Wiki source code of AL5A Arm Assembly Instructions Rev. 2.1

Navigation

Recently Visited