Version 63.1 by Eric Nantel on 2023/01/16 11:49
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Eric Nantel 60.1 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>
Eric Nantel 59.1 6
Eric Nantel 53.1 7 <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
8 </font></b></p>
Eric Nantel 59.1 9
10
11 <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
12 protection and never touch a powered robot!</font></p>
13
14
Eric Nantel 53.1 15 <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5A arm with either
16 the SSC-32 or the SSC-32U servo controller. Take note of which version you have
17 and follow each step accordingly, as the connections and configuration
18 are different. Calibration of the arm is done using one of the following software:</span></strong></font></p>
19 <ul>
20 <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
21 <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
22 <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of a kit)</span></font></li>
23 <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
24 </ul>
Eric Nantel 59.1 25
26
27
Eric Nantel 53.1 28 <p><font face="Verdana" size="2">Note: Loctite / thread lock
29 can be used on the construction of the aluminum components, though it
30 is not necessary if the nuts are properly tightened. However,
31 don't use them with Lexan or plastic, as they are not necessary and may
32 cause
33 damage.</font></p>
34 </td>
Eric Nantel 63.1 35 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="al5a20.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 53.1 36 <b>Image of complete arm (SSC-32 Shown).</b></font></td>
37 </tr>
38 <tr>
Eric Nantel 63.1 39 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 40 </tr>
41 <tr>
Eric Nantel 63.1 42 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Lexan Preparation.<br>
Eric Nantel 53.1 43 </b>The lexan pieces have a protective covering that needs to be
44 removed before assembly. When the laser cuts, the covering melts into
45 the cut edge which can make removal difficult. If you gently scrape the
46 cut edge with a flat blade screwdriver, the covering can easily be
47 lifted and peeled off.</font>
48 <p><font face="Verdana" size="2">On smaller pieces the coverings
49 can be more difficult to remove. If you have trouble you can gently
50 scrape the cut edge, then use duct tape to lift the covering off.</font></p>
51 <p><font face="Verdana" size="2">For further information on
52 lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
53 page</a>.</font></p>
54 </td>
Eric Nantel 63.1 55 <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 56 Lexan Preparation.</font></td>
57 </tr>
58 <tr>
Eric Nantel 63.1 59 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 60 </tr>
61 <tr>
Eric Nantel 63.1 62 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 1.</b><br>
Eric Nantel 53.1 63 Connect the standard "C" bracket to the large "C" bracket as shown. Use two 2-56
64 x 1/4" screws and 2-56 nuts.<br>
65 <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
Eric Nantel 63.1 66 <table border="0" >
Eric Nantel 53.1 67 <tbody>
68 <tr>
Eric Nantel 63.1 69 <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
70 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
Eric Nantel 53.1 71 </tr>
72 <tr>
Eric Nantel 63.1 73 <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>
74 <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 75 </tr>
76 </tbody>
77 </table>
78 </font></td>
Eric Nantel 63.1 79 <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 80 Figure 1.</font></td>
81 </tr>
82 <tr>
Eric Nantel 63.1 83 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 84 </td>
85 </tr>
86 <tr>
Eric Nantel 63.1 87 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 2.<br>
Eric Nantel 53.1 88 </b></font><font face="Verdana" size="2">Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
89 machine screws. Be sure to add the discs to the correct side and </font><font face="Verdana" size="2">ensure the protective covering has been
90 removed from the Lexan parts.</font><font face="Verdana" size="2">
91 Press down when screwing to ensure there is no gap between the Lexan
92 and the aluminum, as the screw will be threading the Lexan. </font><br>
93
Eric Nantel 62.1 94 <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>
Eric Nantel 53.1 95 </td>
Eric Nantel 63.1 96 <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 97 Figure 2.</font></td>
98 </tr>
99 <tr>
Eric Nantel 63.1 100 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 101 </tr>
102 <tr>
Eric Nantel 63.1 103 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 3.<br>
Eric Nantel 53.1 104 </b>Insert the 4-40 x .5" Phillips head screw through the hole in
105 the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
106 &nbsp;</font>
Eric Nantel 63.1 107 <table border="0" >
Eric Nantel 53.1 108 <tbody>
109 <tr>
Eric Nantel 63.1 110 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
111 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
Eric Nantel 53.1 112 </tr>
113 <tr>
Eric Nantel 63.1 114 <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>
115 <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 53.1 116 </tr>
117 </tbody>
118 </table>
119 </td>
Eric Nantel 63.1 120 <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 53.1 121 Figure 3.</font></td>
122 </tr>
123 <tr>
Eric Nantel 63.1 124 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 125 </tr>
126 <tr>
Eric Nantel 63.1 127 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 4.<br>
Eric Nantel 53.1 128 </b>Slide the large "C" bracket end of the bracket assembly over
129 the screw as shown, and secure with a nylon insert lock nut. The amount
130 of friction can be adjusted by tightening or loosening the lock nut.
131 Start with the nut loose, and if the arm seems to wobble a bit, you can
132 tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
133 - don't over-tighten this! If the arm is operated with the mechanical
134 dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
135 &nbsp;</font>
Eric Nantel 63.1 136 <table border="0" >
Eric Nantel 53.1 137 <tbody>
138 <tr>
Eric Nantel 63.1 139 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
140 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 141 </tr>
142 <tr>
Eric Nantel 63.1 143 <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>
144 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 145 </tr>
146 </tbody>
147 </table>
148 </td>
Eric Nantel 63.1 149 <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 53.1 150 Figure 4.</font></td>
151 </tr>
152 <tr>
Eric Nantel 63.1 153 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 154 </td>
155 </tr>
156 <tr>
Eric Nantel 63.1 157 <td valign="top" ><font face="Verdana" size="2"><b>Step
Eric Nantel 53.1 158 5.<br>
159 </b>Figure 5 shows a typical mega-size servo with its default
160 servo horn at center position. You will need to replace this black
161 servo horn on the 755 servo with the round nylon servo horn included with the hardware bag.&nbsp;</font>
162
163 <p><font face="Verdana" size="2">Remove
164 the servo horn screw,
165 being careful to not rotate the servo horn itself. Pull the servo horn
166 off, then press the nylon servo horn in place, as close to the
167 alignment shown as possible. Replace the servo horn screw. Make sure
168 your large servo looks like figure 5. The arrows in the image point to
169 the screw holes you will
170 use.</font></p>
171 </td>
Eric Nantel 63.1 172 <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 53.1 173 <font face="Verdana" size="2">Figure 5.</font></td>
174 </tr>
175 <tr>
Eric Nantel 63.1 176 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 177 </tr>
178 <tr>
Eric Nantel 63.1 179 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 6.<br>
Eric Nantel 53.1 180 </b>Attach the HS-755HB servo to the base bracket as shown using
181 the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
182 screws to secure the bracket to the servo horn. Route the shoulder
183 servo wires underneath the servo. Plug the servo into channel 1 on the
184 SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
185 take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
186 &nbsp;</font>
Eric Nantel 63.1 187 <table border="0" >
Eric Nantel 53.1 188 <tbody>
189 <tr>
Eric Nantel 63.1 190 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
191 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 192 </tr>
193 <tr>
Eric Nantel 63.1 194 <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>
195 <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 53.1 196 </tr>
197 <tr>
Eric Nantel 63.1 198 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 199 </tr>
200 <tr>
Eric Nantel 63.1 201 <td colspan="2" >
Eric Nantel 62.1 202 <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>
Eric Nantel 53.1 203 </td>
204 </tr>
205 </tbody>
206 </table>
207 </td>
Eric Nantel 63.1 208 <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 53.1 209 Figure 6.</font></td>
210 </tr>
211 <tr>
Eric Nantel 63.1 212 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 213 </td>
214 </tr>
215 <tr>
Eric Nantel 63.1 216 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 7.<br>
Eric Nantel 53.1 217 </b>Attach two of the tubing connector hubs to the short side of
218 the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana" size="2"> Orientation is important; the hole in the tube should be as shown, so
219 the tube will line up as in figure 8.</font><br>
220 <font face="Verdana, Helvetica, sans-serif" size="2">
221 &nbsp;</font>
Eric Nantel 63.1 222 <table border="0" >
Eric Nantel 53.1 223 <tbody>
224 <tr>
Eric Nantel 63.1 225 <td ><font face="Verdana" size="2"><b>4 x (two each)<br>
Eric Nantel 53.1 226 </b></font></td>
Eric Nantel 63.1 227 <td ><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
Eric Nantel 53.1 228 </tr>
229 <tr>
Eric Nantel 63.1 230 <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>
231 <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 53.1 232 </tr>
233 </tbody>
234 </table>
235 </td>
Eric Nantel 63.1 236 <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 53.1 237 Figure 7.</font></td>
238 </tr>
239 <tr>
Eric Nantel 63.1 240 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 241 </tr>
242 <tr>
Eric Nantel 63.1 243 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 8.<br>
Eric Nantel 53.1 244 </b>Connect the hubs to the 1.50" tube using two 4-40 x .250"
245 screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
246 &nbsp;</font>
Eric Nantel 63.1 247 <table border="0" >
Eric Nantel 53.1 248 <tbody>
249 <tr>
Eric Nantel 63.1 250 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
251 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 252 </tr>
253 <tr>
Eric Nantel 63.1 254 <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>
255 <td ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 256 </tr>
257 </tbody>
258 </table>
259 </td>
Eric Nantel 63.1 260 <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 53.1 261 Figure 8.</font></td>
262 </tr>
263 <tr>
Eric Nantel 63.1 264 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 265 </tr>
266 <tr>
Eric Nantel 63.1 267 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 9.<br>
Eric Nantel 53.1 268 </b>Attach each of the ends of the tubing structure to two standard sized Multi-Purpose brackets as
269 shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
270 &nbsp;</font>
Eric Nantel 63.1 271 <table border="0" >
Eric Nantel 53.1 272 <tbody>
273 <tr>
Eric Nantel 63.1 274 <td ><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
275 <td ><font face="Verdana" size="2"><b>4 x </b></font><font face="Verdana" size="2"><b>(two each)</b></font></td>
Eric Nantel 53.1 276 </tr>
277 <tr>
Eric Nantel 63.1 278 <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>
279 <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 53.1 280 </tr>
281 </tbody>
282 </table>
283 </td>
Eric Nantel 63.1 284 <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 53.1 285 Figure 9.</font></td>
286 </tr>
287 <tr>
Eric Nantel 63.1 288 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 289 </td>
290 </tr>
291 <tr>
Eric Nantel 63.1 292 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 10.</b><br>
Eric Nantel 53.1 293 Insert the 4-40 x .5" Phillips head screw through the hole in the
294 multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
295 &nbsp;</font>
Eric Nantel 63.1 296 <table border="0" >
Eric Nantel 53.1 297 <tbody>
298 <tr>
Eric Nantel 63.1 299 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
300 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
Eric Nantel 53.1 301 </tr>
302 <tr>
Eric Nantel 63.1 303 <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>
304 <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 53.1 305 </tr>
306 </tbody>
307 </table>
308 </td>
Eric Nantel 63.1 309 <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 53.1 310 Figure 10.</font></td>
311 </tr>
312 <tr>
Eric Nantel 63.1 313 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 314 </tr>
315 <tr>
Eric Nantel 63.1 316 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 11.<br>
Eric Nantel 53.1 317 </b>Slide the screw on the forearm assembly through the dampening
318 discs as shown, and secure with a nylon insert lock nut. The amount of
319 friction can be adjusted by tightening or loosening the lock nut. Start
320 with the nut loose, and if the arm seems to wobble a bit, you can
321 tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
322 - don't over-tighten this! If the arm is operated with the mechanical
323 dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
324 &nbsp;</font>
Eric Nantel 63.1 325 <table border="0" >
Eric Nantel 53.1 326 <tbody>
327 <tr>
Eric Nantel 63.1 328 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
329 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 330 </tr>
331 <tr>
Eric Nantel 63.1 332 <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>
333 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 334 </tr>
335 </tbody>
336 </table>
337 </td>
Eric Nantel 63.1 338 <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 53.1 339 Figure 11.</font></td>
340 </tr>
341 <tr>
Eric Nantel 63.1 342 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 343 </tr>
344 <tr>
Eric Nantel 63.1 345 <td valign="top" ><font face="Verdana" size="2"><b>Step
Eric Nantel 53.1 346 12.<br>
347 </b>Figure 12 illustrates a typical standard-size servo with its
348 output horn (the round white part) at center position. Make sure your
349 servo looks like the image. The arrows in the image point to the screw
350 holes you will use.</font></td>
Eric Nantel 63.1 351 <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 53.1 352 <font face="Verdana" size="2">Figure 12.</font></td>
353 </tr>
354 <tr>
Eric Nantel 63.1 355 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 356 </td>
357 </tr>
358 <tr>
Eric Nantel 63.1 359 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 13.</b><br>
Eric Nantel 53.1 360 Attach the HS-645HB elbow servo to the bracket as shown using the 3mm
361 hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
362 secure the bracket to the servo horn. Route the shoulder servo wires
363 over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
364 &nbsp;</font>
Eric Nantel 63.1 365 <table border="0" >
Eric Nantel 53.1 366 <tbody>
367 <tr>
Eric Nantel 63.1 368 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
369 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 370 </tr>
371 <tr>
Eric Nantel 63.1 372 <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>
373 <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 53.1 374 </tr>
375 <tr>
Eric Nantel 63.1 376 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 377 </tr>
378 <tr>
Eric Nantel 63.1 379 <td colspan="2" >
Eric Nantel 62.1 380 <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>
Eric Nantel 53.1 381 </td>
382 </tr>
383 </tbody>
384 </table>
385 </td>
Eric Nantel 63.1 386 <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 53.1 387 Figure 13.</font></td>
388 </tr>
389 <tr>
Eric Nantel 63.1 390 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 391 </tr>
392 <tr>
Eric Nantel 63.1 393 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 14.<br>
Eric Nantel 53.1 394 </b>Attach the Little Gripper connector to the Short "C" bracket
395 using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
396 &nbsp;</font>
Eric Nantel 63.1 397 <table border="0" >
Eric Nantel 53.1 398 <tbody>
399 <tr>
Eric Nantel 63.1 400 <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
401 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
Eric Nantel 53.1 402 </tr>
403 <tr>
Eric Nantel 63.1 404 <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>
405 <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 53.1 406 </tr>
407 </tbody>
408 </table>
409 </td>
Eric Nantel 63.1 410 <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 53.1 411 Figure 14.</font></td>
412 </tr>
413 <tr>
Eric Nantel 63.1 414 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 415 </td>
416 </tr>
417 <tr>
Eric Nantel 63.1 418 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 15.<br>
Eric Nantel 53.1 419 </b>Attach the short "C" bracket to the other Multi-purpose
420 bracket as shown.</font>
Eric Nantel 62.1 421 <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>
Eric Nantel 53.1 422 Figure 15-1.</font></p>
423 </td>
Eric Nantel 63.1 424 <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 53.1 425 Figure 15-2.</font></td>
426 </tr>
427 <tr>
Eric Nantel 63.1 428 <td colspan="2" align="left" valign="top" >&nbsp;</td>
Eric Nantel 53.1 429 </tr>
430 <tr>
Eric Nantel 63.1 431 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 16.<br>
Eric Nantel 53.1 432 </b>Attach the HS-422 wrist servo to the bracket as shown using the 3mm hardware; follow the
433 diagram below. Use two #2 x 1/4" tapping screws to secure the bracket
434 to the servo horn. Route the shoulder servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
435 &nbsp;</font>
Eric Nantel 63.1 436 <table border="0" >
Eric Nantel 53.1 437 <tbody>
438 <tr>
Eric Nantel 63.1 439 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
440 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 441 </tr>
442 <tr>
Eric Nantel 63.1 443 <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>
444 <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 53.1 445 </tr>
446 <tr>
Eric Nantel 63.1 447 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 53.1 448 </tr>
449 <tr>
Eric Nantel 63.1 450 <td colspan="2" >
Eric Nantel 62.1 451 <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>
Eric Nantel 53.1 452 </td>
453 </tr>
454 </tbody>
455 </table>
456 </td>
Eric Nantel 63.1 457 <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 53.1 458 Figure 16.</font></td>
459 </tr>
460 <tr>
Eric Nantel 63.1 461 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 462 </td>
463 </tr>
464 <tr>
Eric Nantel 63.1 465 <td rowspan="2" align="left" valign="top" ><font face="Verdana" size="2"><b>Step 17.<br>
Eric Nantel 53.1 466 </b>Attach the Little Grip to the Lexan as shown, using three
467 4-40 x .375" button head screws and acorn locking nuts. Only three
468 screws are used (shown in the image) as the body of the gripper servo
469 is in the way for the fourth.</font>
470 <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
471 may be substituted) servo is aligned to mid-position, and the gripper
472 is halfway open. Now the servo and gripper will be aligned correctly.
473 Remove the servo screw and horn. Slide the servo into the gripper from
474 the bottom. You may need to wiggle it a bit to get it seated properly.
475 Use the servo screw to attach the servo. Tighten this down, but then
476 unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
477 &nbsp;</font> </p>
Eric Nantel 63.1 478 <table border="0" >
Eric Nantel 53.1 479 <tbody>
480 <tr>
Eric Nantel 63.1 481 <td ><font face="Verdana" size="2"><b>3 x (NOT four)<br>
Eric Nantel 53.1 482 </b></font></td>
Eric Nantel 63.1 483 <td ><font face="Verdana" size="2"><b>3 x (NOT four)<br>
Eric Nantel 53.1 484 </b></font></td>
485 </tr>
486 <tr>
Eric Nantel 63.1 487 <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>
488 <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 53.1 489 </tr>
490 </tbody>
491 </table>&nbsp;
492 <p><font face="Verdana" size="2"><b>Step 18.</b><br>
493 Add 6" servo extender cables to the wrist and gripper servos.</font></p>
494 </td>
Eric Nantel 63.1 495 <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 53.1 496 Figure 17.<br>
497 &nbsp;</font></td>
498 </tr>
499 <tr>
Eric Nantel 63.1 500 <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 53.1 501 Figure 18.</font></td>
502 </tr>
503 <tr>
Eric Nantel 63.1 504 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 505 </tr>
506 <tr>
Eric Nantel 63.1 507 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 19.<br>
Eric Nantel 53.1 508 </b>Carefully bend the wrist servo back as far as it will go, and
509 use wire ties to secure the servo cables as shown. Make sure to leave
510 slack in the gripper servo cable, don't pull it too tight.</font></td>
Eric Nantel 63.1 511 <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 53.1 512 Figure 19.</font></td>
513 </tr>
514 <tr>
Eric Nantel 63.1 515 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 516 </td>
517 </tr>
518 <tr>
Eric Nantel 63.1 519 <td align="left" valign="top" >
Eric Nantel 53.1 520 <p><font face="Verdana" size="2"><b>Step 20.<br>
521 </b>Carefully stretch the arm forward as far as it will go, and
522 use wire ties to secure the servo cables as shown. Make sure to leave
523 slack in the cables, don't pull them too tight. Plug the servos in
524 according to Table 20.</font></p>
525 <div align="center">
526 <center>
527 <table border="1" bordercolor="#ffffff" width="320">
528 <tbody>
529 <tr>
Eric Nantel 63.1 530 <td >
Eric Nantel 53.1 531 <div align="center">
532 <table border="1" bordercolor="#000000" width="320">
533 <tbody>
534 <tr>
535 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
536 I/O</b></font></td>
537 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
538 </tr>
539 <tr>
540 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
541 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
542 </tr>
543 <tr>
544 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
545 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
546 </tr>
547 <tr>
548 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
549 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
550 </tr>
551 <tr>
552 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
553 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
554 </tr>
555 <tr>
556 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
557 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
558 </tr>
559 <tr>
560 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
561 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
562 Rotate (Optional)</font></td>
563 </tr>
564 </tbody>
565 </table>
566 </div>
567 </td>
568 </tr>
569 <tr>
570 <td bordercolor="#FFFFFF">
571 <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
572 </td>
573 </tr>
574 </tbody>
575 </table>
576 </center>
577 </div>
578 </td>
Eric Nantel 63.1 579 <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 53.1 580 Figure 20.</font></td>
581 </tr>
582 <tr>
Eric Nantel 63.1 583 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 584 </tr>
585 <tr>
Eric Nantel 63.1 586 <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 53.1 587 you have the SSC-32U (USB connector), please proceed with Step 21b. If
588 you have the SSC-32 (serial connector), we'll use LynxTerm to test the
589 servos and confirm that they're all plugged into the proper channels (</font><font face="Verdana" size="2">just as in the Base Assembly Instructions)</font><font face="Verdana" size="2">.
590 If you have not done so before, download and install <a href="http://www.lynxmotion.com/p-567-free-download-lynxterm.aspx" target="_blank">LynxTerm v1.08</a> or higher. Connect the SSC-32 to
591 the serial port and apply power. The green LED should light up and stay
592 on
593 until it receives a valid serial command. Run the LynxTerm program. If
594 LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
595 and USB-to-serial troubleshooting guide</a>.<br>
596 <br>
597 </font><font face="Verdana" size="2">
598 Now test the servos and connections by selecting a channel, and moving
599 the servo carefully using the slider bar. Verify that the servos are
600 plugged into the channels as listed in Table 20. Easy does it; this is
601 real time control, so be careful! Select channels 0 through 4 one at a time and test that each works.</font><br>
602
603
604 </p>
605 <p><font face="Verdana" size="2"><b><br>
606 </b></font></p>
607
608 </td>
Eric Nantel 63.1 609 <td align="left" valign="top" >
Eric Nantel 62.1 610 <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>
Eric Nantel 53.1 611 Figure 21a (Lynxterm).</font></p>
612 </td>
613 </tr>
614 <tr>
Eric Nantel 63.1 615 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 616 </tr>
617 <tr>
618 <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
619 21b (SSC-32U / Servo Utility).<br>
620 </b></font><font face="Verdana" size="2">Just like in the base instructions, we will use the SSC-32 Servo
621 Sequencer Utility to test the servos and confirm they are all plugged
622 into their proper servo channels and oriented correctly. If not done so
623 before, download and install the <a href="http://www.lynxmotion.com/p-895-free-download-ssc-32-servo-sequencer-utility-created-using-flowbotics-studio.aspx" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect the USB
624 cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
625 the program.<br>
626 <br>
627 The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
628 towards the bottom right of the window is set to 9600 (not 115200). The
629 software should automatically detect which COM port is connected to the
630 SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
631 (USB to serial) drivers</a> automatically.<br>
632 <br>Ensure Servos 0 4 are checked off in the software (and therefore
633 accessible). You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
634 plugged into the channels as listed in Table 21. Easy does it; this is
635 real time control, so be careful.<br>
636 <br>
637 For more information, please consult the </font><a href="http://www.flowbotics.com/manuals/ssc-32_servo_sequencer.pdf" target="_blank">SSC-32 Servo Sequencer Utility manual</a><font face="Verdana" size="2">. </font><br>
638
639 <br>
640 <font face="Verdana" size="2"> </font></td>
Eric Nantel 62.1 641 <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>
Eric Nantel 53.1 642
643 <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
644 </tr>
645 <tr>
646 <td style="vertical-align: top;"><br>
647 </td>
648 <td style="vertical-align: top; text-align: center;"><br>
649 </td>
650 </tr>
651 <tr>
Eric Nantel 63.1 652 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
Eric Nantel 53.1 653 Click on the "All = 1500" button in LynxTerm. This will command the
654 servos to hold center position. Your arm should look like Figure 22. If
655 any joint is off by more than 15°, then you may have made an error in
656 assembly.<br>
657 <br>
658 </font><font face="Verdana" size="2">If you did not purchase RIOS software, please proceed to step 27.</font><br>
659
660
661
Eric Nantel 62.1 662 <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>
Eric Nantel 53.1 663
664 </td>
Eric Nantel 63.1 665 <td align="left" valign="top" >
Eric Nantel 62.1 666 <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>
Eric Nantel 53.1 667 Figure 22.</font></p>
668 </td>
669 </tr>
670 <tr>
Eric Nantel 63.1 671 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 672 </td>
673 </tr>
674 <tr>
675 <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
676 Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
677 A knob next to each servo will appear (figure 22b). This knob is used
678 to fine tune the servo's center position. The knob is not intended to
679 be rotated: click the knob you wish to rotate, keeping the mouse button
680 down, and drag up and down to rotate the knob. Do this for each servo
681 until the arm looks like figure 22, and angles are 90 and 180 degrees.
682 If
683 any joint is off by more than 15°, then you may have made an error in
684 assembly.<br>
685 <br>
686 Once all servos have been properly positioned, click the icon
687 "Calibrate" once again, and the offset values will be stored on the
688 SSC-32 / SSC-32U.<br>
689 <br>
690 If you did not purchase the RIOS software, please proceed to step 27.</font></td>
Eric Nantel 62.1 691 <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>
Eric Nantel 53.1 692 <font face="Verdana" size="2">
693 Figure 22b (SSC-32 Utility).</font></td>
694 </tr>
695 <tr>
696 <td style="vertical-align: top;"><br>
697 </td>
698 <td style="vertical-align: top;"><br>
699 </td>
700 </tr>
701 <tr>
Eric Nantel 63.1 702 <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 53.1 703 </b>To use the RIOS Arm control software, you need to make one
704 minor modification. Remove the servo horn screw from the elbow servo.
705 Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
706 the elbow and reattach the servo horn and screw. Note, the Hitec spline
707 has 24 grooves, so each groove is 15°.</font></td>
Eric Nantel 63.1 708 <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 53.1 709 Figure 23.</font></td>
710 </tr>
711 <tr>
Eric Nantel 63.1 712 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 713 </tr>
714 <tr>
Eric Nantel 63.1 715 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).</b><br>
Eric Nantel 53.1 716 At this point the arms is assembled and tested using LynxTerm. If your
717 robot came with RIOS, we can now install RIOS and calibrate the arm to
718 the software. For those using a different program such as FlowBotics or
719 FlowStone, refer to the software's user guide. Use the RIOS Help File
720 to calibrate and use the arm.</font>
721 <p><font face="Verdana" size="2">Install RIOS, following the
722 on-screen installation prompts. The serial number is on the back of the
723 CD sleeve.</font></p>
724 <p><font face="Verdana" size="2">Use the RIOS Help File to
725 calibrate and use the arm, following Steps 1-7. When you get to Step 8
726 in the help file, please use the following instructions instead. Click
727 on the "Arm" button, then click on the "Arm" button in the "Arm size"
728 section, and then click on the AL5A arm image on the popup screen.</font></p>
729 <p><font face="Verdana" size="2">Please take the time to do an
730 accurate calibration. The performance of the arm will only be as good
731 as the calibration. If the on screen virtual arm does not match the
732 real arm this is a sign of an inaccurate calibration. After calibration
733 please study the RIOS manual carefully to learn how to store and
734 playback sequences for the arm.</font></p>
735 </td>
Eric Nantel 63.1 736 <td align="left" valign="top" >
Eric Nantel 62.1 737 <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>
Eric Nantel 53.1 738 <font face="Verdana" size="2">
739 Figure 24 (RIOS).</font></p>
740 </td>
741 </tr>
742 <tr>
Eric Nantel 63.1 743 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 744 </tr>
745 <tr>
Eric Nantel 63.1 746 <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 53.1 747 To calibrate the arm's shoulder servo, click the "SSC-32" button.</font></td>
Eric Nantel 63.1 748 <td align="left" valign="top" >
Eric Nantel 62.1 749 <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>
Eric Nantel 53.1 750 <font face="Verdana" size="2">
751 Figure 25 (RIOS).</font></p>
752 </td>
753 </tr>
754 <tr>
Eric Nantel 63.1 755 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 756 </td>
757 </tr>
758 <tr>
Eric Nantel 63.1 759 <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 53.1 760 Select the Shoulder, servo #2. Move the shoulder slider up to move the
761 shoulder forward so that it looks like Figure 27-2. Set the Min Deg
762 angle -90°. Right click on the slider to set this as the Min Position.
763 Now the servo will not go past this value, and the program now knows
764 this value is exactly 90° from centered.</font>
765 <p><font face="Verdana" size="2">Now move the slider down to move
766 the shoulder backward so that it looks like Figure 27-3. Set the Max
767 Deg angle to 45°. Right click on the slider to set this as the Max
768 Position. Now the servo will not go past this value, and the program
769 now knows this value is exactly 45° from centered.</font></p>
770 <p><font face="Verdana" size="2">The next step is to read and
771 study the RIOS users guide. It is accessible by clicking on the help
772 icon on the main screen or by navigating to the install directory
773 (c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
774 manual explains in great detail how to use the arm.</font></p>
775
776 </td>
Eric Nantel 63.1 777 <td align="left" valign="top" >
Eric Nantel 62.1 778 <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>
Eric Nantel 53.1 779
780 Figure 26-1 (RIOS).</font></p>
781 </td>
782 </tr>
783 <tr>
Eric Nantel 63.1 784 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 785 </tr>
786 <tr>
Eric Nantel 63.1 787 <td align="left" valign="top" >
Eric Nantel 62.1 788 <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>
Eric Nantel 53.1 789 Figure 26-2.</font></p>
790 </td>
Eric Nantel 63.1 791 <td align="left" valign="top" >
Eric Nantel 62.1 792 <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>
Eric Nantel 53.1 793 Figure 26-3.</font></p>
794 </td>
795 </tr>
796 <tr>
Eric Nantel 63.1 797 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 53.1 798 </tr>
799 <tr>
Eric Nantel 63.1 800 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 27.<br>
Eric Nantel 53.1 801 </b>To connect springs for load-balancing, replace the servo
802 attachment hardware in the locations shown, following the diagrams
803 below. Hook the springs together after they're secured.</font>
Eric Nantel 62.1 804 <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>
805 <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>
Eric Nantel 53.1 806 </td>
Eric Nantel 63.1 807 <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 53.1 808 Figure 27.</font></td>
809 </tr>
810 <tr>
Eric Nantel 63.1 811 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 53.1 812 </td>
813 </tr>
814 <tr>
Eric Nantel 63.1 815 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 28.<br>
Eric Nantel 53.1 816 </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
817 but the servos can be damaged by improper use. An example would be if
818 the arm was told to move to an unobtainable position, like the surface
819 the arm is mounted to, or by crashing the arm into itself, or other
820 objects. The elbow servo is the most vulnerable because it holds the
821 entire weight of the forearm. Load balancing springs should be added to
822 reduce some of this load.<br>
823 <br>
824 </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
825 FlowStone or FlowArm, you can proceed with the instruction guide(s)
826 associated with those programs.</font><br>
827
828
829 <p><font color="#ff0000" face="Verdana" size="2"><b>People do not
830 like holding heavy objects with their arms outstretched in front of
831 them. Servo based robot arms don't like it much either. Remember, the
832 most important rule for servo based robot arms: Park the arm when not
833 in motion! When it's moving or at rest it's usually ok. When it's
834 holding an object it should do so for the minimum amount of time
835 required to do the job. You can always touch the servo case to see if
836 it's getting hot.</b> </font> </p>
837 </td>
Eric Nantel 63.1 838 <td align="center" valign="top" ><font face="Verdana" size="2"><br>
Eric Nantel 53.1 839 </font></td>
840 </tr>
841 </tbody>
842 </table>
Eric Nantel 3.1 843 {{/html}}
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