Version 59.1 by Eric Nantel on 2023/01/16 11:37
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Eric Nantel 53.1 17 <tbody>
18 <tr>
19 <td style="vertical-align: top; text-align: left; width: 100%;"><b><font face="Verdana" size="2">AL5A Arm Assembly Instructions Rev. 2.1.</font></b>
Eric Nantel 59.1 20
Eric Nantel 53.1 21 <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
22 </font></b></p>
Eric Nantel 59.1 23
24
25 <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
26 protection and never touch a powered robot!</font></p>
27
28
Eric Nantel 53.1 29 <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
30 the SSC-32 or the SSC-32U servo controller. Take note of which version you have
31 and follow each step accordingly, as the connections and configuration
32 are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
33 <ul>
34 <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
35 <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
36 <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
37 <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
38 </ul>
Eric Nantel 59.1 39
40
41
Eric Nantel 53.1 42 <p><font face="Verdana" size="2">Note: Loctite / thread lock
43 can be used on the construction of the aluminum components, though it
44 is not necessary if the nuts are properly tightened. However,
45 don't use them with Lexan or plastic, as they are not necessary and may
46 cause
47 damage.</font></p>
48 </td>
Eric Nantel 59.1 49 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a20.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 50 <b>Image of complete arm (SSC-32 Shown).</b></font></td>
51 </tr>
52 <tr>
Eric Nantel 59.1 53 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 54 </tr>
55 <tr>
Eric Nantel 59.1 56 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Lexan Preparation.<br>
Eric Nantel 53.1 57 </b>The lexan pieces have a protective covering that needs to be
58 removed before assembly. When the laser cuts, the covering melts into
59 the cut edge which can make removal difficult. If you gently scrape the
60 cut edge with a flat blade screwdriver, the covering can easily be
61 lifted and peeled off.</font>
62 <p><font face="Verdana" size="2">On smaller pieces the coverings
63 can be more difficult to remove. If you have trouble you can gently
64 scrape the cut edge, then use duct tape to lift the covering off.</font></p>
65 <p><font face="Verdana" size="2">For further information on
66 lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
67 page</a>.</font></p>
68 </td>
Eric Nantel 59.1 69 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/lexan01.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 70 Lexan Preparation.</font></td>
71 </tr>
72 <tr>
Eric Nantel 59.1 73 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 74 </tr>
75 <tr>
Eric Nantel 59.1 76 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br>
Eric Nantel 53.1 77 Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
78 x 1/4" screws and 2-56 nuts.<br>
79 <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
Eric Nantel 59.1 80 <table border="0" width="100%">
Eric Nantel 53.1 81 <tbody>
82 <tr>
Eric Nantel 59.1 83 <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
84 <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
Eric Nantel 53.1 85 </tr>
86 <tr>
Eric Nantel 59.1 87 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
88 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 89 </tr>
90 </tbody>
91 </table>
92 </font></td>
Eric Nantel 59.1 93 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a01.JPG" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 94 Figure 1.</font></td>
95 </tr>
96 <tr>
Eric Nantel 59.1 97 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 98 </td>
99 </tr>
100 <tr>
Eric Nantel 59.1 101 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br>
Eric Nantel 53.1 102 </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
103 machine screws. Be sure to add the discs to the correct side and </font><font face="Verdana" size="2">ensure the protective covering has been
104 removed from the Lexan parts.</font><font face="Verdana" size="2">
105 Press down when screwing to ensure there is no gap between the Lexan
106 and the aluminum, as the screw will be threading the Lexan. </font><br>
107
Eric Nantel 59.1 108 <p align="center"><font face="Verdana"><img src="./AL5A Arm SSC-32U_files/arm02.GIF" border="2" height="96" width="320"></font></p>
Eric Nantel 53.1 109 </td>
Eric Nantel 59.1 110 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a02.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 111 Figure 2.</font></td>
112 </tr>
113 <tr>
Eric Nantel 59.1 114 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 115 </tr>
116 <tr>
Eric Nantel 59.1 117 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br>
Eric Nantel 53.1 118 </b>Insert the 4-40 x .5" Phillips head screw through the hole in
119 the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
120 &nbsp;</font>
Eric Nantel 59.1 121 <table border="0" width="100%">
Eric Nantel 53.1 122 <tbody>
123 <tr>
Eric Nantel 59.1 124 <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
125 <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
Eric Nantel 53.1 126 </tr>
127 <tr>
Eric Nantel 59.1 128 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/500phs.gif" border="2" height="96" width="160"></font></td>
129 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440zpn.GIF" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 130 </tr>
131 </tbody>
132 </table>
133 </td>
Eric Nantel 59.1 134 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a03.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 135 Figure 3.</font></td>
136 </tr>
137 <tr>
Eric Nantel 59.1 138 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 139 </tr>
140 <tr>
Eric Nantel 59.1 141 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br>
Eric Nantel 53.1 142 </b>Slide the large "C" bracket end of the bracket assembly over
143 the screw as shown, and secure with a nylon insert lock nut. The amount
144 of friction can be adjusted by tightening or loosening the lock nut.
145 Start with the nut loose, and if the arm seems to wobble a bit, you can
146 tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
147 - don't over-tighten this! If the arm is operated with the mechanical
148 dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
149 &nbsp;</font>
Eric Nantel 59.1 150 <table border="0" width="100%">
Eric Nantel 53.1 151 <tbody>
152 <tr>
Eric Nantel 59.1 153 <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
154 <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 155 </tr>
156 <tr>
Eric Nantel 59.1 157 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440niln.gif" border="2" height="96" width="160"></font></td>
158 <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 159 </tr>
160 </tbody>
161 </table>
162 </td>
Eric Nantel 59.1 163 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a04.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 164 Figure 4.</font></td>
165 </tr>
166 <tr>
Eric Nantel 59.1 167 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 168 </td>
169 </tr>
170 <tr>
Eric Nantel 59.1 171 <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
Eric Nantel 53.1 172 5.<br>
173 </b>Figure 5 shows a typical mega-size servo with its default
174 servo horn at center position. You will need to replace this black
175 servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
176
177 <p><font face="Verdana" size="2">Remove
178 the servo horn screw,
179 being careful to not rotate the servo horn itself. Pull the servo horn
180 off, then press the nylon servo horn in place, as close to the
181 alignment shown as possible. Replace the servo horn screw. Make sure
182 your large servo looks like figure 5. The arrows in the image point to
183 the screw holes you will
184 use.</font></p>
185 </td>
Eric Nantel 59.1 186 <td align="center" valign="bottom" width="50%"><img src="./AL5A Arm SSC-32U_files/mservo01.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 187 <font face="Verdana" size="2">Figure 5.</font></td>
188 </tr>
189 <tr>
Eric Nantel 59.1 190 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 191 </tr>
192 <tr>
Eric Nantel 59.1 193 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br>
Eric Nantel 53.1 194 </b>Attach the HS-755HB servo to the base bracket as shown using
195 the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
196 screws to secure the bracket to the servo horn. Route the shoulder
197 servo wires underneath the servo. Plug the servo into channel 1 on the
198 SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
199 take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
200 &nbsp;</font>
Eric Nantel 59.1 201 <table border="0" width="100%">
Eric Nantel 53.1 202 <tbody>
203 <tr>
Eric Nantel 59.1 204 <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
205 <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 206 </tr>
207 <tr>
Eric Nantel 59.1 208 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/2250phts.gif" border="2" height="96" width="160"></font></td>
209 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/holes.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 210 </tr>
211 <tr>
Eric Nantel 59.1 212 <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 213 </tr>
214 <tr>
Eric Nantel 59.1 215 <td colspan="2" width="100%">
216 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/brack02.gif" border="2" height="96" width="320"></font></p>
Eric Nantel 53.1 217 </td>
218 </tr>
219 </tbody>
220 </table>
221 </td>
Eric Nantel 59.1 222 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a21.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 223 Figure 6.</font></td>
224 </tr>
225 <tr>
Eric Nantel 59.1 226 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 227 </td>
228 </tr>
229 <tr>
Eric Nantel 59.1 230 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br>
Eric Nantel 53.1 231 </b>Attach two of the tubing connector hubs to the short side of
232 the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana" size="2"> Orientation is important; the hole in the tube should be as shown, so
233 the tube will line up as in figure 8.</font><br>
234 <font face="Verdana, Helvetica, sans-serif" size="2">
235 &nbsp;</font>
Eric Nantel 59.1 236 <table border="0" width="100%">
Eric Nantel 53.1 237 <tbody>
238 <tr>
Eric Nantel 59.1 239 <td width="50%"><font face="Verdana" size="2"><b>4 x (two each)<br>
Eric Nantel 53.1 240 </b></font></td>
Eric Nantel 59.1 241 <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
Eric Nantel 53.1 242 </tr>
243 <tr>
Eric Nantel 59.1 244 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
245 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 246 </tr>
247 </tbody>
248 </table>
249 </td>
Eric Nantel 59.1 250 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a05.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 251 Figure 7.</font></td>
252 </tr>
253 <tr>
Eric Nantel 59.1 254 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 255 </tr>
256 <tr>
Eric Nantel 59.1 257 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br>
Eric Nantel 53.1 258 </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
259 screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
260 &nbsp;</font>
Eric Nantel 59.1 261 <table border="0" width="100%">
Eric Nantel 53.1 262 <tbody>
263 <tr>
Eric Nantel 59.1 264 <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
265 <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 266 </tr>
267 <tr>
Eric Nantel 59.1 268 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/4250hscs.GIF" border="2" height="96" width="160"></font></td>
269 <td width="50%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 270 </tr>
271 </tbody>
272 </table>
273 </td>
Eric Nantel 59.1 274 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a06.JPG" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 275 Figure 8.</font></td>
276 </tr>
277 <tr>
Eric Nantel 59.1 278 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 279 </tr>
280 <tr>
Eric Nantel 59.1 281 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br>
Eric Nantel 53.1 282 </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
283 shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
284 &nbsp;</font>
Eric Nantel 59.1 285 <table border="0" width="100%">
Eric Nantel 53.1 286 <tbody>
287 <tr>
Eric Nantel 59.1 288 <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
289 <td width="50%"><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
Eric Nantel 53.1 290 </tr>
291 <tr>
Eric Nantel 59.1 292 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
293 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 294 </tr>
295 </tbody>
296 </table>
297 </td>
Eric Nantel 59.1 298 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a07.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 299 Figure 9.</font></td>
300 </tr>
301 <tr>
Eric Nantel 59.1 302 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 303 </td>
304 </tr>
305 <tr>
Eric Nantel 59.1 306 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br>
Eric Nantel 53.1 307 Insert the 4-40 x .5" Phillips head screw through the hole in the
308 multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
309 &nbsp;</font>
Eric Nantel 59.1 310 <table border="0" width="100%">
Eric Nantel 53.1 311 <tbody>
312 <tr>
Eric Nantel 59.1 313 <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
314 <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
Eric Nantel 53.1 315 </tr>
316 <tr>
Eric Nantel 59.1 317 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440zpn.GIF" border="2" height="96" width="160"></font></td>
318 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/500phs.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 319 </tr>
320 </tbody>
321 </table>
322 </td>
Eric Nantel 59.1 323 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a08.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 324 Figure 10.</font></td>
325 </tr>
326 <tr>
Eric Nantel 59.1 327 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 328 </tr>
329 <tr>
Eric Nantel 59.1 330 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br>
Eric Nantel 53.1 331 </b>Slide the screw on the forearm assembly through the dampening
332 discs as shown, and secure with a nylon insert lock nut. The amount of
333 friction can be adjusted by tightening or loosening the lock nut. Start
334 with the nut loose, and if the arm seems to wobble a bit, you can
335 tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
336 - don't over-tighten this! If the arm is operated with the mechanical
337 dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
338 &nbsp;</font>
Eric Nantel 59.1 339 <table border="0" width="100%">
Eric Nantel 53.1 340 <tbody>
341 <tr>
Eric Nantel 59.1 342 <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
343 <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 344 </tr>
345 <tr>
Eric Nantel 59.1 346 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/440niln.gif" border="2" height="96" width="160"></font></td>
347 <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 348 </tr>
349 </tbody>
350 </table>
351 </td>
Eric Nantel 59.1 352 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a09.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 353 Figure 11.</font></td>
354 </tr>
355 <tr>
Eric Nantel 59.1 356 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 357 </tr>
358 <tr>
Eric Nantel 59.1 359 <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
Eric Nantel 53.1 360 12.<br>
361 </b>Figure 12 illustrates a typical standard-size servo with its
362 output horn (the round white part) at center position. Make sure your
363 servo looks like the image. The arrows in the image point to the screw
364 holes you will use.</font></td>
Eric Nantel 59.1 365 <td align="center" valign="bottom" width="50%"><img src="./AL5A Arm SSC-32U_files/servo02.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 366 <font face="Verdana" size="2">Figure 12.</font></td>
367 </tr>
368 <tr>
Eric Nantel 59.1 369 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 370 </td>
371 </tr>
372 <tr>
Eric Nantel 59.1 373 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br>
Eric Nantel 53.1 374 Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
375 hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
376 secure the bracket to the servo horn. Route the shoulder servo wires
377 over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
378 &nbsp;</font>
Eric Nantel 59.1 379 <table border="0" width="100%">
Eric Nantel 53.1 380 <tbody>
381 <tr>
Eric Nantel 59.1 382 <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
383 <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 384 </tr>
385 <tr>
Eric Nantel 59.1 386 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/2250phts.gif" border="2" height="96" width="160"></font></td>
387 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/holes.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 388 </tr>
389 <tr>
Eric Nantel 59.1 390 <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 391 </tr>
392 <tr>
Eric Nantel 59.1 393 <td colspan="2" width="100%">
394 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/brack02.gif" border="2" height="96" width="320"></font></p>
Eric Nantel 53.1 395 </td>
396 </tr>
397 </tbody>
398 </table>
399 </td>
Eric Nantel 59.1 400 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a10.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 401 Figure 13.</font></td>
402 </tr>
403 <tr>
Eric Nantel 59.1 404 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 405 </tr>
406 <tr>
Eric Nantel 59.1 407 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br>
Eric Nantel 53.1 408 </b>Attach the Little Gripper connector to the Short "C" bracket
409 using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
410 &nbsp;</font>
Eric Nantel 59.1 411 <table border="0" width="100%">
Eric Nantel 53.1 412 <tbody>
413 <tr>
Eric Nantel 59.1 414 <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
415 <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
Eric Nantel 53.1 416 </tr>
417 <tr>
Eric Nantel 59.1 418 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256025ph.gif" border="2" height="96" width="160"></font></td>
419 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 420 </tr>
421 </tbody>
422 </table>
423 </td>
Eric Nantel 59.1 424 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a11.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 425 Figure 14.</font></td>
426 </tr>
427 <tr>
Eric Nantel 59.1 428 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 429 </td>
430 </tr>
431 <tr>
Eric Nantel 59.1 432 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br>
Eric Nantel 53.1 433 </b>Attach the short "C" bracket to the other Multi-purpose
434 bracket as shown.</font>
Eric Nantel 59.1 435 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/ballb02.gif" border="2" height="96" hspace="10" width="320"><br>
Eric Nantel 53.1 436 Figure 15-1.</font></p>
437 </td>
Eric Nantel 59.1 438 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a12.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 439 Figure 15-2.</font></td>
440 </tr>
441 <tr>
Eric Nantel 59.1 442 <td colspan="2" align="left" valign="top" width="100%">&nbsp;</td>
Eric Nantel 53.1 443 </tr>
444 <tr>
Eric Nantel 59.1 445 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br>
Eric Nantel 53.1 446 </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
447 diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
448 to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
449 &nbsp;</font>
Eric Nantel 59.1 450 <table border="0" width="100%">
Eric Nantel 53.1 451 <tbody>
452 <tr>
Eric Nantel 59.1 453 <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
454 <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 455 </tr>
456 <tr>
Eric Nantel 59.1 457 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/2250phts.gif" border="2" height="96" width="160"></font></td>
458 <td width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/holes.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 53.1 459 </tr>
460 <tr>
Eric Nantel 59.1 461 <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 462 </tr>
463 <tr>
Eric Nantel 59.1 464 <td colspan="2" width="100%">
465 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/brack02.gif" border="2" height="96" width="320"></font></p>
Eric Nantel 53.1 466 </td>
467 </tr>
468 </tbody>
469 </table>
470 </td>
Eric Nantel 59.1 471 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a13.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 472 Figure 16.</font></td>
473 </tr>
474 <tr>
Eric Nantel 59.1 475 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 476 </td>
477 </tr>
478 <tr>
Eric Nantel 59.1 479 <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br>
Eric Nantel 53.1 480 </b>Attach the Little Grip to the Lexan as shown, using three
481 4-40 x .375" button head screws and acorn locking nuts. Only three
482 screws are used (shown in the image) as the body of the gripper servo
483 is in the way for the fourth.</font>
484 <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
485 may be substituted) servo is aligned to mid-position, and the gripper
486 is halfway open. Now the servo and gripper will be aligned correctly.
487 Remove the servo screw and horn. Slide the servo into the gripper from
488 the bottom. You may need to wiggle it a bit to get it seated properly.
489 Use the servo screw to attach the servo. Tighten this down, but then
490 unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
491 &nbsp;</font> </p>
Eric Nantel 59.1 492 <table border="0" width="100%">
Eric Nantel 53.1 493 <tbody>
494 <tr>
Eric Nantel 59.1 495 <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
Eric Nantel 53.1 496 </b></font></td>
Eric Nantel 59.1 497 <td width="50%"><font face="Verdana" size="2"><b>3 x (NOT four)<br>
Eric Nantel 53.1 498 </b></font></td>
499 </tr>
500 <tr>
Eric Nantel 59.1 501 <td width="50%"><font face="Verdana" size="2"><b><img src="./AL5A Arm SSC-32U_files/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
502 <td width="50%"><font face="Verdana" size="2"><b><img src="./AL5A Arm SSC-32U_files/440nan.GIF" border="2" height="96" width="160"></b></font></td>
Eric Nantel 53.1 503 </tr>
504 </tbody>
505 </table>&nbsp;
506 <p><font face="Verdana" size="2"><b>Step 18.</b><br>
507 Add 6" servo extender cables to the wrist and gripper servos.</font></p>
508 </td>
Eric Nantel 59.1 509 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a14.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 510 Figure 17.<br>
511 &nbsp;</font></td>
512 </tr>
513 <tr>
Eric Nantel 59.1 514 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a15.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 515 Figure 18.</font></td>
516 </tr>
517 <tr>
Eric Nantel 59.1 518 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 519 </tr>
520 <tr>
Eric Nantel 59.1 521 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br>
Eric Nantel 53.1 522 </b>Carefully bend the wrist servo back as far as it will go, and
523 use wire ties to secure the servo cables as shown. Make sure to leave
524 slack in the gripper servo cable, don't pull it too tight.</font></td>
Eric Nantel 59.1 525 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a16.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 526 Figure 19.</font></td>
527 </tr>
528 <tr>
Eric Nantel 59.1 529 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 530 </td>
531 </tr>
532 <tr>
Eric Nantel 59.1 533 <td align="left" valign="top" width="50%">
Eric Nantel 53.1 534 <p><font face="Verdana" size="2"><b>Step 20.<br>
535 </b>Carefully stretch the arm forward as far as it will go, and
536 use wire ties to secure the servo cables as shown. Make sure to leave
537 slack in the cables, don't pull them too tight. Plug the servos in
538 according to Table 20.</font></p>
539 <div align="center">
540 <center>
541 <table border="1" bordercolor="#ffffff" width="320">
542 <tbody>
543 <tr>
Eric Nantel 59.1 544 <td width="100%">
Eric Nantel 53.1 545 <div align="center">
546 <table border="1" bordercolor="#000000" width="320">
547 <tbody>
548 <tr>
549 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
550 I/O</b></font></td>
551 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
552 </tr>
553 <tr>
554 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
555 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
556 </tr>
557 <tr>
558 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
559 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
560 </tr>
561 <tr>
562 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
563 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
564 </tr>
565 <tr>
566 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
567 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
568 </tr>
569 <tr>
570 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
571 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
572 </tr>
573 <tr>
574 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
575 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
576 Rotate (Optional)</font></td>
577 </tr>
578 </tbody>
579 </table>
580 </div>
581 </td>
582 </tr>
583 <tr>
584 <td bordercolor="#FFFFFF">
585 <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
586 </td>
587 </tr>
588 </tbody>
589 </table>
590 </center>
591 </div>
592 </td>
Eric Nantel 59.1 593 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a17.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 594 Figure 20.</font></td>
595 </tr>
596 <tr>
Eric Nantel 59.1 597 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 598 </tr>
599 <tr>
Eric Nantel 59.1 600 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b></b></font><p><font face="Verdana" size="2"><b>Step 21a (SSC-32 / Lynxterm).</b><br>If
Eric Nantel 53.1 601 you have the SSC-32U (USB connector), please proceed with Step 21b. If
602 you have the SSC-32 (serial connector), we'll use LynxTerm to test the
603 servos and confirm that they're all plugged into the proper channels (</font><font face="Verdana" size="2">just as in the Base Assembly Instructions)</font><font face="Verdana" size="2">.
604 If you have not done so before, download and install <a href="http://www.lynxmotion.com/p-567-free-download-lynxterm.aspx" target="_blank">LynxTerm v1.08</a> or higher. Connect the SSC-32 to
605 the serial port and apply power. The green LED should light up and stay
606 on
607 until it receives a valid serial command. Run the LynxTerm program. If
608 LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
609 and USB-to-serial troubleshooting guide</a>.<br>
610 <br>
611 </font><font face="Verdana" size="2">
612 Now test the servos and connections by selecting a channel, and moving
613 the servo carefully using the slider bar. Verify that the servos are
614 plugged into the channels as listed in Table 20. Easy does it; this is
615 real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
616
617
618 </p>
619 <p><font face="Verdana" size="2"><b><br>
620 </b></font></p>
621
622 </td>
Eric Nantel 59.1 623 <td align="left" valign="top" width="50%">
624 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/lterm01.jpg" border="2" height="243" hspace="10" width="320"><br>
Eric Nantel 53.1 625 Figure 21a (Lynxterm).</font></p>
626 </td>
627 </tr>
628 <tr>
Eric Nantel 59.1 629 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 630 </tr>
631 <tr>
632 <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
633 21b (SSC-32U / Servo Utility).<br>
634 </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
635 Sequencer Utility to test the servos and confirm they are all plugged
636 into their proper servo channels and oriented correctly. If not done so
637 before, download and install the <a href="http://www.lynxmotion.com/p-895-free-download-ssc-32-servo-sequencer-utility-created-using-flowbotics-studio.aspx" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect the USB
638 cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
639 the program.<br>
640 <br>
641 The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
642 towards the bottom right of the window is set to 9600 (not 115200). The
643 software should automatically detect which COM port is connected to the
644 SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
645 (USB to serial) drivers</a> automatically.<br>
646 <br>Ensure Servos 0 4 are checked off in the software (and therefore
647 accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
648 plugged into the channels as listed in Table 21. Easy does it; this is
649 real time control, so be careful.<br>
650 <br>
651 For more information, please consult the </font><a href="http://www.flowbotics.com/manuals/ssc-32_servo_sequencer.pdf" target="_blank">SSC-32 Servo Sequencer Utility manual</a><font face="Verdana" size="2">. </font><br>
652
653 <br>
654 <font face="Verdana" size="2"> </font></td>
Eric Nantel 59.1 655 <td style="vertical-align: top; text-align: center;"><img src="./AL5A Arm SSC-32U_files/RB-Dsp-07.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 656
657 <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
658 </tr>
659 <tr>
660 <td style="vertical-align: top;"><br>
661 </td>
662 <td style="vertical-align: top; text-align: center;"><br>
663 </td>
664 </tr>
665 <tr>
Eric Nantel 59.1 666 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
Eric Nantel 53.1 667 Click on the "All = 1500" button in LynxTerm. This will command the
668 servos to hold center position. Your arm should look like Figure 22. If
669 any joint is off by more than 15°, then you may have made an error in
670 assembly.<br>
671 <br>
672 </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
673
674
675
Eric Nantel 59.1 676 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/lterm02.jpg" border="2" height="120" hspace="10" width="320"></font></p>
Eric Nantel 53.1 677
678 </td>
Eric Nantel 59.1 679 <td align="left" valign="top" width="50%">
680 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a22.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 681 Figure 22.</font></p>
682 </td>
683 </tr>
684 <tr>
Eric Nantel 59.1 685 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 686 </td>
687 </tr>
688 <tr>
689 <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
690 Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
691 A knob next to each servo will appear (figure 22b). This knob is used
692 to fine tune the servo's center position. The knob is not intended to
693 be rotated: click the knob you wish to rotate, keeping the mouse button
694 down, and drag up and down to rotate the knob. Do this for each servo
695 until the arm looks like figure 22, and angles are 90 and 180 degrees.
696 If
697 any joint is off by more than 15°, then you may have made an error in
698 assembly.<br>
699 <br>
700 Once all servos have been properly positioned, click the icon
701 "Calibrate" once again, and the offset values will be stored on the
702 SSC-32 / SSC-32U.<br>
703 <br>
704 If you did not purchase the RIOS software, please proceed to step 27.</font></td>
Eric Nantel 59.1 705 <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="" src="./AL5A Arm SSC-32U_files/ssc-32-utility-calibrate.jpg" border="2"><br>
Eric Nantel 53.1 706 <font face="Verdana" size="2">
707 Figure 22b (SSC-32 Utility).</font></td>
708 </tr>
709 <tr>
710 <td style="vertical-align: top;"><br>
711 </td>
712 <td style="vertical-align: top;"><br>
713 </td>
714 </tr>
715 <tr>
Eric Nantel 59.1 716 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 23</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.<br>
Eric Nantel 53.1 717 </b>To use the RIOS Arm control software, you need to make one
718 minor modification. Remove the servo horn screw from the elbow servo.
719 Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
720 the elbow and reattach the servo horn and screw. Note, the Hitec spline
721 has 24 grooves, so each groove is 15°.</font></td>
Eric Nantel 59.1 722 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a18.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 723 Figure 23.</font></td>
724 </tr>
725 <tr>
Eric Nantel 59.1 726 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 727 </tr>
728 <tr>
Eric Nantel 59.1 729 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
Eric Nantel 53.1 730 At this point the arms is assembled and tested using LynxTerm. If your
731 robot came with RIOS, we can now install RIOS and calibrate the arm to
732 the software. For those using a different program such as FlowBotics or
733 FlowStone, refer to the software's user guide. Use the RIOS Help File
734 to calibrate and use the arm.</font>
735 <p><font face="Verdana" size="2">Install RIOS, following the
736 on-screen installation prompts. The serial number is on the back of the
737 CD sleeve.</font></p>
738 <p><font face="Verdana" size="2">Use the RIOS Help File to
739 calibrate and use the arm, following Steps 1-7. When you get to Step 8
740 in the help file, please use the following instructions instead. Click
741 on the "Arm" button, then click on the "Arm" button in the "Arm size"
742 section, and then click on the AL5A arm image on the popup screen.</font></p>
743 <p><font face="Verdana" size="2">Please take the time to do an
744 accurate calibration. The performance of the arm will only be as good
745 as the calibration. If the on screen virtual arm does not match the
746 real arm this is a sign of an inaccurate calibration. After calibration
747 please study the RIOS manual carefully to learn how to store and
748 playback sequences for the arm.</font></p>
749 </td>
Eric Nantel 59.1 750 <td align="left" valign="top" width="50%">
751 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/rios03.jpg" border="2" height="240" hspace="10" width="320"></font><br>
Eric Nantel 53.1 752 <font face="Verdana" size="2">
753 Figure 24 (RIOS).</font></p>
754 </td>
755 </tr>
756 <tr>
Eric Nantel 59.1 757 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 758 </tr>
759 <tr>
Eric Nantel 59.1 760 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 25</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.</b><br>
Eric Nantel 53.1 761 To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
Eric Nantel 59.1 762 <td align="left" valign="top" width="50%">
763 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/rios04.jpg" border="2" height="240" hspace="10" width="320"></font><br>
Eric Nantel 53.1 764 <font face="Verdana" size="2">
765 Figure 25 (RIOS).</font></p>
766 </td>
767 </tr>
768 <tr>
Eric Nantel 59.1 769 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 770 </td>
771 </tr>
772 <tr>
Eric Nantel 59.1 773 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 26</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.</b><br>
Eric Nantel 53.1 774 Select the Shoulder, servo #2. Move the shoulder slider up to move the
775 shoulder forward so that it looks like Figure 27-2. Set the Min Deg
776 angle -90°. Right click on the slider to set this as the Min Position.
777 Now the servo will not go past this value, and the program now knows
778 this value is exactly 90° from centered.</font>
779 <p><font face="Verdana" size="2">Now move the slider down to move
780 the shoulder backward so that it looks like Figure 27-3. Set the Max
781 Deg angle to 45°. Right click on the slider to set this as the Max
782 Position. Now the servo will not go past this value, and the program
783 now knows this value is exactly 45° from centered.</font></p>
784 <p><font face="Verdana" size="2">The next step is to read and
785 study the RIOS users guide. It is accessible by clicking on the help
786 icon on the main screen or by navigating to the install directory
787 (c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
788 manual explains in great detail how to use the arm.</font></p>
789
790 </td>
Eric Nantel 59.1 791 <td align="left" valign="top" width="50%">
792 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/rios01.jpg" border="2" height="240" hspace="10" width="321"><br>
Eric Nantel 53.1 793
794 Figure 26-1 (RIOS).</font></p>
795 </td>
796 </tr>
797 <tr>
Eric Nantel 59.1 798 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 799 </tr>
800 <tr>
Eric Nantel 59.1 801 <td align="left" valign="top" width="50%">
802 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5_90.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 803 Figure 26-2.</font></p>
804 </td>
Eric Nantel 59.1 805 <td align="left" valign="top" width="50%">
806 <p align="center"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5_45.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 807 Figure 26-3.</font></p>
808 </td>
809 </tr>
810 <tr>
Eric Nantel 59.1 811 <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 812 </tr>
813 <tr>
Eric Nantel 59.1 814 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br>
Eric Nantel 53.1 815 </b>To connect springs for load-balancing, replace the servo
816 attachment hardware in the locations shown, following the diagrams
817 below. Hook the springs together after they're secured.</font>
Eric Nantel 59.1 818 <p align="center"><img src="./AL5A Arm SSC-32U_files/spr03.gif" border="2" height="96" width="320"></p>
819 <p align="center"><img src="./AL5A Arm SSC-32U_files/spr02.gif" border="2" height="96" width="320"></p>
Eric Nantel 53.1 820 </td>
Eric Nantel 59.1 821 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="./AL5A Arm SSC-32U_files/al5a19.jpg" border="2" height="240" width="320"><br>
Eric Nantel 53.1 822 Figure 27.</font></td>
823 </tr>
824 <tr>
Eric Nantel 59.1 825 <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
Eric Nantel 53.1 826 </td>
827 </tr>
828 <tr>
Eric Nantel 59.1 829 <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br>
Eric Nantel 53.1 830 </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
831 but the servos can be damaged by improper use. An example would be if
832 the arm was told to move to an unobtainable position, like the surface
833 the arm is mounted to, or by crashing the arm into itself, or other
834 objects. The elbow servo is the most vulnerable because it holds the
835 entire weight of the forearm. Load balancing springs should be added to
836 reduce some of this load.<br>
837 <br>
838 </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
839 FlowStone or FlowArm, you can proceed with the instruction guide(s)
840 associated with those programs.</font><br>
841
842
843 <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
844 like holding heavy objects with their arms outstretched in front of
845 them. Servo based robot arms don't like it much either. Remember, the
846 most important rule for servo based robot arms: Park the arm when not
847 in motion! When it's moving or at rest it's usually ok. When it's
848 holding an object it should do so for the minimum amount of time
849 required to do the job. You can always touch the servo case to see if
850 it's getting hot.</b> </font> </p>
851 </td>
Eric Nantel 59.1 852 <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br>
Eric Nantel 53.1 853 </font></td>
854 </tr>
855 </tbody>
856 </table>
857
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