Version 57.1 by Eric Nantel on 2023/01/16 11:19
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Eric Nantel 57.1 2 <table border="0" cellpadding="0" cellspacing="0" >
Eric Nantel 53.1 3 <tbody>
4 <tr>
5 <td style="vertical-align: top; text-align: left; width: 100%;"><b><font face="Verdana" size="2">AL5A Arm Assembly Instructions Rev. 2.1.</font></b>
6 <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
7 </font></b></p>
Eric Nantel 55.1 8 <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
Eric Nantel 53.1 9 <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
10 the SSC-32 or the SSC-32U servo controller. Take note of which version you have
11 and follow each step accordingly, as the connections and configuration
12 are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
13 <ul>
14 <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
15 <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
16 <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
17 <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
18 </ul>
19 <p><font face="Verdana" size="2">Note: Loctite / thread lock
20 can be used on the construction of the aluminum components, though it
21 is not necessary if the nuts are properly tightened. However,
22 don't use them with Lexan or plastic, as they are not necessary and may
23 cause
24 damage.</font></p>
25 </td>
Eric Nantel 57.1 26 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a20.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 27 <b>Image of complete arm (SSC-32 Shown).</b></font></td>
28 </tr>
29 <tr>
Eric Nantel 57.1 30 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 31 </tr>
32 <tr>
Eric Nantel 57.1 33 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Lexan Preparation.<br>
Eric Nantel 53.1 34 </b>The lexan pieces have a protective covering that needs to be
35 removed before assembly. When the laser cuts, the covering melts into
36 the cut edge which can make removal difficult. If you gently scrape the
37 cut edge with a flat blade screwdriver, the covering can easily be
38 lifted and peeled off.</font>
39 <p><font face="Verdana" size="2">On smaller pieces the coverings
40 can be more difficult to remove. If you have trouble you can gently
41 scrape the cut edge, then use duct tape to lift the covering off.</font></p>
42 <p><font face="Verdana" size="2">For further information on
43 lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
44 page</a>.</font></p>
45 </td>
Eric Nantel 57.1 46 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/lexan01.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 47 Lexan Preparation.</font></td>
48 </tr>
49 <tr>
Eric Nantel 57.1 50 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 51 </tr>
52 <tr>
Eric Nantel 57.1 53 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 1.</b><br>
Eric Nantel 53.1 54 Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
55 x 1/4" screws and 2-56 nuts.<br>
56 <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
Eric Nantel 57.1 57 <table border="0" >
Eric Nantel 53.1 58 <tbody>
59 <tr>
Eric Nantel 57.1 60 <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
61 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
Eric Nantel 53.1 62 </tr>
63 <tr>
Eric Nantel 57.1 64 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
65 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 66 </tr>
67 </tbody>
68 </table>
69 </font></td>
Eric Nantel 57.1 70 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a01.JPG" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 71 Figure 1.</font></td>
72 </tr>
73 <tr>
Eric Nantel 57.1 74 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 75 </td>
76 </tr>
77 <tr>
Eric Nantel 57.1 78 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 2.<br>
Eric Nantel 53.1 79 </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
80 machine screws. Be sure to add the discs to the correct side and </font><font face="Verdana" size="2">ensure the protective covering has been
81 removed from the Lexan parts.</font><font face="Verdana" size="2">
82 Press down when screwing to ensure there is no gap between the Lexan
83 and the aluminum, as the screw will be threading the Lexan. </font><br>
84
85 <p align="center"><font face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/arm02.GIF" border="2" height="96" width="320"></font></p>
86 </td>
Eric Nantel 57.1 87 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a02.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 88 Figure 2.</font></td>
89 </tr>
90 <tr>
Eric Nantel 57.1 91 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 92 </tr>
93 <tr>
Eric Nantel 57.1 94 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 3.<br>
Eric Nantel 53.1 95 </b>Insert the 4-40 x .5" Phillips head screw through the hole in
96 the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
97 &nbsp;</font>
Eric Nantel 57.1 98 <table border="0" >
Eric Nantel 53.1 99 <tbody>
100 <tr>
Eric Nantel 57.1 101 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
102 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
Eric Nantel 53.1 103 </tr>
104 <tr>
Eric Nantel 57.1 105 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
106 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 107 </tr>
108 </tbody>
109 </table>
110 </td>
Eric Nantel 57.1 111 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a03.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 112 Figure 3.</font></td>
113 </tr>
114 <tr>
Eric Nantel 57.1 115 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 116 </tr>
117 <tr>
Eric Nantel 57.1 118 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 4.<br>
Eric Nantel 53.1 119 </b>Slide the large "C" bracket end of the bracket assembly over
120 the screw as shown, and secure with a nylon insert lock nut. The amount
121 of friction can be adjusted by tightening or loosening the lock nut.
122 Start with the nut loose, and if the arm seems to wobble a bit, you can
123 tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
124 - don't over-tighten this! If the arm is operated with the mechanical
125 dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
126 &nbsp;</font>
Eric Nantel 57.1 127 <table border="0" >
Eric Nantel 53.1 128 <tbody>
129 <tr>
Eric Nantel 57.1 130 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
131 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 132 </tr>
133 <tr>
Eric Nantel 57.1 134 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
135 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 136 </tr>
137 </tbody>
138 </table>
139 </td>
Eric Nantel 57.1 140 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a04.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 141 Figure 4.</font></td>
142 </tr>
143 <tr>
Eric Nantel 57.1 144 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 145 </td>
146 </tr>
147 <tr>
Eric Nantel 57.1 148 <td valign="top" ><font face="Verdana" size="2"><b>Step
Eric Nantel 53.1 149 5.<br>
150 </b>Figure 5 shows a typical mega-size servo with its default
151 servo horn at center position. You will need to replace this black
152 servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
153
154 <p><font face="Verdana" size="2">Remove
155 the servo horn screw,
156 being careful to not rotate the servo horn itself. Pull the servo horn
157 off, then press the nylon servo horn in place, as close to the
158 alignment shown as possible. Replace the servo horn screw. Make sure
159 your large servo looks like figure 5. The arrows in the image point to
160 the screw holes you will
161 use.</font></p>
162 </td>
Eric Nantel 57.1 163 <td align="center" valign="bottom" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/mservo01.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 164 <font face="Verdana" size="2">Figure 5.</font></td>
165 </tr>
166 <tr>
Eric Nantel 57.1 167 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 168 </tr>
169 <tr>
Eric Nantel 57.1 170 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 6.<br>
Eric Nantel 53.1 171 </b>Attach the HS-755HB servo to the base bracket as shown using
172 the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
173 screws to secure the bracket to the servo horn. Route the shoulder
174 servo wires underneath the servo. Plug the servo into channel 1 on the
175 SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
176 take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
177 &nbsp;</font>
Eric Nantel 57.1 178 <table border="0" >
Eric Nantel 53.1 179 <tbody>
180 <tr>
Eric Nantel 57.1 181 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
182 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 183 </tr>
184 <tr>
Eric Nantel 57.1 185 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
186 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 187 </tr>
188 <tr>
Eric Nantel 57.1 189 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 190 </tr>
191 <tr>
Eric Nantel 57.1 192 <td colspan="2" >
Eric Nantel 53.1 193 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p>
194 </td>
195 </tr>
196 </tbody>
197 </table>
198 </td>
Eric Nantel 57.1 199 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a21.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 200 Figure 6.</font></td>
201 </tr>
202 <tr>
Eric Nantel 57.1 203 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 204 </td>
205 </tr>
206 <tr>
Eric Nantel 57.1 207 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 7.<br>
Eric Nantel 53.1 208 </b>Attach two of the tubing connector hubs to the short side of
209 the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana" size="2"> Orientation is important; the hole in the tube should be as shown, so
210 the tube will line up as in figure 8.</font><br>
211 <font face="Verdana, Helvetica, sans-serif" size="2">
212 &nbsp;</font>
Eric Nantel 57.1 213 <table border="0" >
Eric Nantel 53.1 214 <tbody>
215 <tr>
Eric Nantel 57.1 216 <td ><font face="Verdana" size="2"><b>4 x (two each)<br>
Eric Nantel 53.1 217 </b></font></td>
Eric Nantel 57.1 218 <td ><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
Eric Nantel 53.1 219 </tr>
220 <tr>
Eric Nantel 57.1 221 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
222 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 223 </tr>
224 </tbody>
225 </table>
226 </td>
Eric Nantel 57.1 227 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a05.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 228 Figure 7.</font></td>
229 </tr>
230 <tr>
Eric Nantel 57.1 231 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 232 </tr>
233 <tr>
Eric Nantel 57.1 234 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 8.<br>
Eric Nantel 53.1 235 </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
236 screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
237 &nbsp;</font>
Eric Nantel 57.1 238 <table border="0" >
Eric Nantel 53.1 239 <tbody>
240 <tr>
Eric Nantel 57.1 241 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
242 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 243 </tr>
244 <tr>
Eric Nantel 57.1 245 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/4250hscs.GIF" border="2" height="96" width="160"></font></td>
246 <td ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 247 </tr>
248 </tbody>
249 </table>
250 </td>
Eric Nantel 57.1 251 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a06.JPG" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 252 Figure 8.</font></td>
253 </tr>
254 <tr>
Eric Nantel 57.1 255 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 256 </tr>
257 <tr>
Eric Nantel 57.1 258 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 9.<br>
Eric Nantel 53.1 259 </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
260 shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
261 &nbsp;</font>
Eric Nantel 57.1 262 <table border="0" >
Eric Nantel 53.1 263 <tbody>
264 <tr>
Eric Nantel 57.1 265 <td ><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
266 <td ><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
Eric Nantel 53.1 267 </tr>
268 <tr>
Eric Nantel 57.1 269 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
270 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 271 </tr>
272 </tbody>
273 </table>
274 </td>
Eric Nantel 57.1 275 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a07.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 276 Figure 9.</font></td>
277 </tr>
278 <tr>
Eric Nantel 57.1 279 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 280 </td>
281 </tr>
282 <tr>
Eric Nantel 57.1 283 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 10.</b><br>
Eric Nantel 53.1 284 Insert the 4-40 x .5" Phillips head screw through the hole in the
285 multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
286 &nbsp;</font>
Eric Nantel 57.1 287 <table border="0" >
Eric Nantel 53.1 288 <tbody>
289 <tr>
Eric Nantel 57.1 290 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
291 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
Eric Nantel 53.1 292 </tr>
293 <tr>
Eric Nantel 57.1 294 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
295 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 296 </tr>
297 </tbody>
298 </table>
299 </td>
Eric Nantel 57.1 300 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a08.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 301 Figure 10.</font></td>
302 </tr>
303 <tr>
Eric Nantel 57.1 304 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 305 </tr>
306 <tr>
Eric Nantel 57.1 307 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 11.<br>
Eric Nantel 53.1 308 </b>Slide the screw on the forearm assembly through the dampening
309 discs as shown, and secure with a nylon insert lock nut. The amount of
310 friction can be adjusted by tightening or loosening the lock nut. Start
311 with the nut loose, and if the arm seems to wobble a bit, you can
312 tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
313 - don't over-tighten this! If the arm is operated with the mechanical
314 dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
315 &nbsp;</font>
Eric Nantel 57.1 316 <table border="0" >
Eric Nantel 53.1 317 <tbody>
318 <tr>
Eric Nantel 57.1 319 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
320 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 321 </tr>
322 <tr>
Eric Nantel 57.1 323 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
324 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 325 </tr>
326 </tbody>
327 </table>
328 </td>
Eric Nantel 57.1 329 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a09.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 330 Figure 11.</font></td>
331 </tr>
332 <tr>
Eric Nantel 57.1 333 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 334 </tr>
335 <tr>
Eric Nantel 57.1 336 <td valign="top" ><font face="Verdana" size="2"><b>Step
Eric Nantel 53.1 337 12.<br>
338 </b>Figure 12 illustrates a typical standard-size servo with its
339 output horn (the round white part) at center position. Make sure your
340 servo looks like the image. The arrows in the image point to the screw
341 holes you will use.</font></td>
Eric Nantel 57.1 342 <td align="center" valign="bottom" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/servo02.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 343 <font face="Verdana" size="2">Figure 12.</font></td>
344 </tr>
345 <tr>
Eric Nantel 57.1 346 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 347 </td>
348 </tr>
349 <tr>
Eric Nantel 57.1 350 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 13.</b><br>
Eric Nantel 53.1 351 Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
352 hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
353 secure the bracket to the servo horn. Route the shoulder servo wires
354 over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
355 &nbsp;</font>
Eric Nantel 57.1 356 <table border="0" >
Eric Nantel 53.1 357 <tbody>
358 <tr>
Eric Nantel 57.1 359 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
360 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 361 </tr>
362 <tr>
Eric Nantel 57.1 363 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
364 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 365 </tr>
366 <tr>
Eric Nantel 57.1 367 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 368 </tr>
369 <tr>
Eric Nantel 57.1 370 <td colspan="2" >
Eric Nantel 53.1 371 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p>
372 </td>
373 </tr>
374 </tbody>
375 </table>
376 </td>
Eric Nantel 57.1 377 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a10.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 378 Figure 13.</font></td>
379 </tr>
380 <tr>
Eric Nantel 57.1 381 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 382 </tr>
383 <tr>
Eric Nantel 57.1 384 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 14.<br>
Eric Nantel 53.1 385 </b>Attach the Little Gripper connector to the Short "C" bracket
386 using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
387 &nbsp;</font>
Eric Nantel 57.1 388 <table border="0" >
Eric Nantel 53.1 389 <tbody>
390 <tr>
Eric Nantel 57.1 391 <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
392 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
Eric Nantel 53.1 393 </tr>
394 <tr>
Eric Nantel 57.1 395 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
396 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 397 </tr>
398 </tbody>
399 </table>
400 </td>
Eric Nantel 57.1 401 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a11.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 402 Figure 14.</font></td>
403 </tr>
404 <tr>
Eric Nantel 57.1 405 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 406 </td>
407 </tr>
408 <tr>
Eric Nantel 57.1 409 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 15.<br>
Eric Nantel 53.1 410 </b>Attach the short "C" bracket to the other Multi-purpose
411 bracket as shown.</font>
412 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/ballb02.gif" border="2" height="96" hspace="10" width="320"><br>
413 Figure 15-1.</font></p>
414 </td>
Eric Nantel 57.1 415 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a12.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 416 Figure 15-2.</font></td>
417 </tr>
418 <tr>
Eric Nantel 57.1 419 <td colspan="2" align="left" valign="top" >&nbsp;</td>
Eric Nantel 53.1 420 </tr>
421 <tr>
Eric Nantel 57.1 422 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 16.<br>
Eric Nantel 53.1 423 </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
424 diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
425 to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
426 &nbsp;</font>
Eric Nantel 57.1 427 <table border="0" >
Eric Nantel 53.1 428 <tbody>
429 <tr>
Eric Nantel 57.1 430 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
431 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 432 </tr>
433 <tr>
Eric Nantel 57.1 434 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
435 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 436 </tr>
437 <tr>
Eric Nantel 57.1 438 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 439 </tr>
440 <tr>
Eric Nantel 57.1 441 <td colspan="2" >
Eric Nantel 53.1 442 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p>
443 </td>
444 </tr>
445 </tbody>
446 </table>
447 </td>
Eric Nantel 57.1 448 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a13.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 449 Figure 16.</font></td>
450 </tr>
451 <tr>
Eric Nantel 57.1 452 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 453 </td>
454 </tr>
455 <tr>
Eric Nantel 57.1 456 <td rowspan="2" align="left" valign="top" ><font face="Verdana" size="2"><b>Step 17.<br>
Eric Nantel 53.1 457 </b>Attach the Little Grip to the Lexan as shown, using three
458 4-40 x .375" button head screws and acorn locking nuts. Only three
459 screws are used (shown in the image) as the body of the gripper servo
460 is in the way for the fourth.</font>
461 <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
462 may be substituted) servo is aligned to mid-position, and the gripper
463 is halfway open. Now the servo and gripper will be aligned correctly.
464 Remove the servo screw and horn. Slide the servo into the gripper from
465 the bottom. You may need to wiggle it a bit to get it seated properly.
466 Use the servo screw to attach the servo. Tighten this down, but then
467 unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
468 &nbsp;</font> </p>
Eric Nantel 57.1 469 <table border="0" >
Eric Nantel 53.1 470 <tbody>
471 <tr>
Eric Nantel 57.1 472 <td ><font face="Verdana" size="2"><b>3 x (NOT four)<br>
Eric Nantel 53.1 473 </b></font></td>
Eric Nantel 57.1 474 <td ><font face="Verdana" size="2"><b>3 x (NOT four)<br>
Eric Nantel 53.1 475 </b></font></td>
476 </tr>
477 <tr>
Eric Nantel 57.1 478 <td ><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
479 <td ><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/440nan.GIF" border="2" height="96" width="160"></b></font></td>
Eric Nantel 53.1 480 </tr>
481 </tbody>
482 </table>&nbsp;
483 <p><font face="Verdana" size="2"><b>Step 18.</b><br>
484 Add 6" servo extender cables to the wrist and gripper servos.</font></p>
485 </td>
Eric Nantel 57.1 486 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a14.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 487 Figure 17.<br>
488 &nbsp;</font></td>
489 </tr>
490 <tr>
Eric Nantel 57.1 491 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a15.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 492 Figure 18.</font></td>
493 </tr>
494 <tr>
Eric Nantel 57.1 495 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 496 </tr>
497 <tr>
Eric Nantel 57.1 498 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 19.<br>
Eric Nantel 53.1 499 </b>Carefully bend the wrist servo back as far as it will go, and
500 use wire ties to secure the servo cables as shown. Make sure to leave
501 slack in the gripper servo cable, don't pull it too tight.</font></td>
Eric Nantel 57.1 502 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a16.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 503 Figure 19.</font></td>
504 </tr>
505 <tr>
Eric Nantel 57.1 506 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 507 </td>
508 </tr>
509 <tr>
Eric Nantel 57.1 510 <td align="left" valign="top" >
Eric Nantel 53.1 511 <p><font face="Verdana" size="2"><b>Step 20.<br>
512 </b>Carefully stretch the arm forward as far as it will go, and
513 use wire ties to secure the servo cables as shown. Make sure to leave
514 slack in the cables, don't pull them too tight. Plug the servos in
515 according to Table 20.</font></p>
516 <div align="center">
517 <center>
518 <table border="1" bordercolor="#ffffff" width="320">
519 <tbody>
520 <tr>
Eric Nantel 57.1 521 <td >
Eric Nantel 53.1 522 <div align="center">
523 <table border="1" bordercolor="#000000" width="320">
524 <tbody>
525 <tr>
526 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
527 I/O</b></font></td>
528 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
529 </tr>
530 <tr>
531 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
532 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
533 </tr>
534 <tr>
535 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
536 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
537 </tr>
538 <tr>
539 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
540 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
541 </tr>
542 <tr>
543 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
544 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
545 </tr>
546 <tr>
547 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
548 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
549 </tr>
550 <tr>
551 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
552 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
553 Rotate (Optional)</font></td>
554 </tr>
555 </tbody>
556 </table>
557 </div>
558 </td>
559 </tr>
560 <tr>
561 <td bordercolor="#FFFFFF">
562 <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
563 </td>
564 </tr>
565 </tbody>
566 </table>
567 </center>
568 </div>
569 </td>
Eric Nantel 57.1 570 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a17.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 571 Figure 20.</font></td>
572 </tr>
573 <tr>
Eric Nantel 57.1 574 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 575 </tr>
576 <tr>
Eric Nantel 57.1 577 <td align="left" valign="top" ><font face="Verdana" size="2"><b></b></font><p><font face="Verdana" size="2"><b>Step 21a (SSC-32 / Lynxterm).</b><br>If
Eric Nantel 53.1 578 you have the SSC-32U (USB connector), please proceed with Step 21b. If
579 you have the SSC-32 (serial connector), we'll use LynxTerm to test the
580 servos and confirm that they're all plugged into the proper channels (</font><font face="Verdana" size="2">just as in the Base Assembly Instructions)</font><font face="Verdana" size="2">.
581 If you have not done so before, download and install <a href="http://www.lynxmotion.com/p-567-free-download-lynxterm.aspx" target="_blank">LynxTerm v1.08</a> or higher. Connect the SSC-32 to
582 the serial port and apply power. The green LED should light up and stay
583 on
584 until it receives a valid serial command. Run the LynxTerm program. If
585 LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
586 and USB-to-serial troubleshooting guide</a>.<br>
587 <br>
588 </font><font face="Verdana" size="2">
589 Now test the servos and connections by selecting a channel, and moving
590 the servo carefully using the slider bar. Verify that the servos are
591 plugged into the channels as listed in Table 20. Easy does it; this is
592 real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
593
594
595 </p>
596 <p><font face="Verdana" size="2"><b><br>
597 </b></font></p>
598
599 </td>
Eric Nantel 57.1 600 <td align="left" valign="top" >
Eric Nantel 53.1 601 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/lterm01.jpg" border="2" height="243" hspace="10" width="320"><br>
602 Figure 21a (Lynxterm).</font></p>
603 </td>
604 </tr>
605 <tr>
Eric Nantel 57.1 606 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 607 </tr>
608 <tr>
609 <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
610 21b (SSC-32U / Servo Utility).<br>
611 </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
612 Sequencer Utility to test the servos and confirm they are all plugged
613 into their proper servo channels and oriented correctly. If not done so
614 before, download and install the <a href="http://www.lynxmotion.com/p-895-free-download-ssc-32-servo-sequencer-utility-created-using-flowbotics-studio.aspx" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect the USB
615 cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
616 the program.<br>
617 <br>
618 The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
619 towards the bottom right of the window is set to 9600 (not 115200). The
620 software should automatically detect which COM port is connected to the
621 SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
622 (USB to serial) drivers</a> automatically.<br>
623 <br>Ensure Servos 0 4 are checked off in the software (and therefore
624 accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
625 plugged into the channels as listed in Table 21. Easy does it; this is
626 real time control, so be careful.<br>
627 <br>
628 For more information, please consult the </font><a href="http://www.flowbotics.com/manuals/ssc-32_servo_sequencer.pdf" target="_blank">SSC-32 Servo Sequencer Utility manual</a><font face="Verdana" size="2">. </font><br>
629
630 <br>
631 <font face="Verdana" size="2"> </font></td>
632 <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/RB-Dsp-07.jpg" border="2" height="240" hspace="10" width="320"><br>
633
634 <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
635 </tr>
636 <tr>
637 <td style="vertical-align: top;"><br>
638 </td>
639 <td style="vertical-align: top; text-align: center;"><br>
640 </td>
641 </tr>
642 <tr>
Eric Nantel 57.1 643 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
Eric Nantel 53.1 644 Click on the "All = 1500" button in LynxTerm. This will command the
645 servos to hold center position. Your arm should look like Figure 22. If
646 any joint is off by more than 15°, then you may have made an error in
647 assembly.<br>
648 <br>
649 </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
650
651
652
653 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/lterm02.jpg" border="2" height="120" hspace="10" width="320"></font></p>
654
655 </td>
Eric Nantel 57.1 656 <td align="left" valign="top" >
Eric Nantel 53.1 657 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a22.jpg" border="2" height="240" hspace="10" width="320"><br>
658 Figure 22.</font></p>
659 </td>
660 </tr>
661 <tr>
Eric Nantel 57.1 662 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 663 </td>
664 </tr>
665 <tr>
666 <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
667 Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
668 A knob next to each servo will appear (figure 22b). This knob is used
669 to fine tune the servo's center position. The knob is not intended to
670 be rotated: click the knob you wish to rotate, keeping the mouse button
671 down, and drag up and down to rotate the knob. Do this for each servo
672 until the arm looks like figure 22, and angles are 90 and 180 degrees.
673 If
674 any joint is off by more than 15°, then you may have made an error in
675 assembly.<br>
676 <br>
677 Once all servos have been properly positioned, click the icon
678 "Calibrate" once again, and the offset values will be stored on the
679 SSC-32 / SSC-32U.<br>
680 <br>
681 If you did not purchase the RIOS software, please proceed to step 27.</font></td>
682 <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/ssc-32-utility-calibrate.jpg" border="2"><br>
683 <font face="Verdana" size="2">
684 Figure 22b (SSC-32 Utility).</font></td>
685 </tr>
686 <tr>
687 <td style="vertical-align: top;"><br>
688 </td>
689 <td style="vertical-align: top;"><br>
690 </td>
691 </tr>
692 <tr>
Eric Nantel 57.1 693 <td align="left" valign="top" ><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>
Eric Nantel 53.1 694 </b>To use the RIOS Arm control software, you need to make one
695 minor modification. Remove the servo horn screw from the elbow servo.
696 Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
697 the elbow and reattach the servo horn and screw. Note, the Hitec spline
698 has 24 grooves, so each groove is 15°.</font></td>
Eric Nantel 57.1 699 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a18.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 700 Figure 23.</font></td>
701 </tr>
702 <tr>
Eric Nantel 57.1 703 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 704 </tr>
705 <tr>
Eric Nantel 57.1 706 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
Eric Nantel 53.1 707 At this point the arms is assembled and tested using LynxTerm. If your
708 robot came with RIOS, we can now install RIOS and calibrate the arm to
709 the software. For those using a different program such as FlowBotics or
710 FlowStone, refer to the software's user guide. Use the RIOS Help File
711 to calibrate and use the arm.</font>
712 <p><font face="Verdana" size="2">Install RIOS, following the
713 on-screen installation prompts. The serial number is on the back of the
714 CD sleeve.</font></p>
715 <p><font face="Verdana" size="2">Use the RIOS Help File to
716 calibrate and use the arm, following Steps 1-7. When you get to Step 8
717 in the help file, please use the following instructions instead. Click
718 on the "Arm" button, then click on the "Arm" button in the "Arm size"
719 section, and then click on the AL5A arm image on the popup screen.</font></p>
720 <p><font face="Verdana" size="2">Please take the time to do an
721 accurate calibration. The performance of the arm will only be as good
722 as the calibration. If the on screen virtual arm does not match the
723 real arm this is a sign of an inaccurate calibration. After calibration
724 please study the RIOS manual carefully to learn how to store and
725 playback sequences for the arm.</font></p>
726 </td>
Eric Nantel 57.1 727 <td align="left" valign="top" >
Eric Nantel 53.1 728 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/rios03.jpg" border="2" height="240" hspace="10" width="320"></font><br>
729 <font face="Verdana" size="2">
730 Figure 24 (RIOS).</font></p>
731 </td>
732 </tr>
733 <tr>
Eric Nantel 57.1 734 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 735 </tr>
736 <tr>
Eric Nantel 57.1 737 <td align="left" valign="top" ><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>
Eric Nantel 53.1 738 To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
Eric Nantel 57.1 739 <td align="left" valign="top" >
Eric Nantel 53.1 740 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/rios04.jpg" border="2" height="240" hspace="10" width="320"></font><br>
741 <font face="Verdana" size="2">
742 Figure 25 (RIOS).</font></p>
743 </td>
744 </tr>
745 <tr>
Eric Nantel 57.1 746 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 747 </td>
748 </tr>
749 <tr>
Eric Nantel 57.1 750 <td align="left" valign="top" ><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>
Eric Nantel 53.1 751 Select the Shoulder, servo #2. Move the shoulder slider up to move the
752 shoulder forward so that it looks like Figure 27-2. Set the Min Deg
753 angle -90°. Right click on the slider to set this as the Min Position.
754 Now the servo will not go past this value, and the program now knows
755 this value is exactly 90° from centered.</font>
756 <p><font face="Verdana" size="2">Now move the slider down to move
757 the shoulder backward so that it looks like Figure 27-3. Set the Max
758 Deg angle to 45°. Right click on the slider to set this as the Max
759 Position. Now the servo will not go past this value, and the program
760 now knows this value is exactly 45° from centered.</font></p>
761 <p><font face="Verdana" size="2">The next step is to read and
762 study the RIOS users guide. It is accessible by clicking on the help
763 icon on the main screen or by navigating to the install directory
764 (c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
765 manual explains in great detail how to use the arm.</font></p>
766
767 </td>
Eric Nantel 57.1 768 <td align="left" valign="top" >
Eric Nantel 53.1 769 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/rios01.jpg" border="2" height="240" hspace="10" width="321"><br>
770
771 Figure 26-1 (RIOS).</font></p>
772 </td>
773 </tr>
774 <tr>
Eric Nantel 57.1 775 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 776 </tr>
777 <tr>
Eric Nantel 57.1 778 <td align="left" valign="top" >
Eric Nantel 53.1 779 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5_90.jpg" border="2" height="240" hspace="10" width="320"><br>
780 Figure 26-2.</font></p>
781 </td>
Eric Nantel 57.1 782 <td align="left" valign="top" >
Eric Nantel 53.1 783 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5_45.jpg" border="2" height="240" hspace="10" width="320"><br>
784 Figure 26-3.</font></p>
785 </td>
786 </tr>
787 <tr>
Eric Nantel 57.1 788 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 789 </tr>
790 <tr>
Eric Nantel 57.1 791 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 27.<br>
Eric Nantel 53.1 792 </b>To connect springs for load-balancing, replace the servo
793 attachment hardware in the locations shown, following the diagrams
794 below. Hook the springs together after they're secured.</font>
795 <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/spr03.gif" border="2" height="96" width="320"></p>
796 <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/spr02.gif" border="2" height="96" width="320"></p>
797 </td>
Eric Nantel 57.1 798 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5a-arm-assembly-instructions-rev-2-1/WebHome/al5a19.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 799 Figure 27.</font></td>
800 </tr>
801 <tr>
Eric Nantel 57.1 802 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 803 </td>
804 </tr>
805 <tr>
Eric Nantel 57.1 806 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 28.<br>
Eric Nantel 53.1 807 </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
808 but the servos can be damaged by improper use. An example would be if
809 the arm was told to move to an unobtainable position, like the surface
810 the arm is mounted to, or by crashing the arm into itself, or other
811 objects. The elbow servo is the most vulnerable because it holds the
812 entire weight of the forearm. Load balancing springs should be added to
813 reduce some of this load.<br>
814 <br>
815 </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
816 FlowStone or FlowArm, you can proceed with the instruction guide(s)
817 associated with those programs.</font><br>
818
819
820 <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
821 like holding heavy objects with their arms outstretched in front of
822 them. Servo based robot arms don't like it much either. Remember, the
823 most important rule for servo based robot arms: Park the arm when not
824 in motion! When it's moving or at rest it's usually ok. When it's
825 holding an object it should do so for the minimum amount of time
826 required to do the job. You can always touch the servo case to see if
827 it's getting hot.</b> </font> </p>
828 </td>
Eric Nantel 57.1 829 <td align="center" valign="top" ><font face="Verdana" size="2"><br>
Eric Nantel 53.1 830 </font></td>
831 </tr>
832 </tbody>
833 </table>
834
Eric Nantel 57.1 835 </body>
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