Changes for page AL5B Arm Assembly Instructions Rev. 2.1
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... ... @@ -1,828 +1,3 @@ 1 1 {{html wiki="false" clean="true"}} 2 -<table style="width: 100%;" border="0" cellpadding="0" cellspacing="0"> 3 - <tbody> 4 - <tr> 5 - <td style="vertical-align: top; text-align: left; width: 100%;"><b><font face="Verdana" size="2">AL5B Arm Assembly Instructions Rev. 2.1.</font></b> 6 - <p><b><font face="Verdana" size="2">Updated Dec 2014<br> 7 - </font></b></p> 8 - <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye 9 -protection and never touch a powered robot!</font></p> 10 - <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5B arm 11 -with either 12 -the SSC-32 or the SSC-32U servo controller. Take note of which version you have 13 -and follow each step accordingly, as the connections and configuration 14 -are different. Calibration of the arm is done using one of the 15 -following software:</span></strong></font></p> 16 - <ul> 17 - <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br> 18 - <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li> 19 - <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of 20 -a kit)</span></font></li> 21 - <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li> 22 - </ul> 23 - <p><font face="Verdana" size="2">Note: Loctite / thread lock 24 -can be used on the construction of the aluminum components, though it 25 -is not necessary if the nuts are properly tightened. However, 26 -don't use them with Lexan or plastic, as they are not necessary and may 27 -cause 28 -damage.</font></p> 29 - </td> 30 - <td align="center" valign="top" width="320"><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/al5b-arm-rev-2-1/WebHome/al5b12.jpg" border="2" height="240" hspace="10" width="320"><br> 31 - <b>Image of complete arm (SSC-32 Shown).</b></font></td> 32 - </tr> 33 - <tr> 34 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 35 - </tr> 36 - <tr> 37 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Lexan Preparation.<br> 38 - </b>The lexan pieces have a protective covering that needs to be 39 -removed before assembly. When the laser cuts, the covering melts into 40 -the cut edge which can make removal difficult. If you gently scrape the 41 -cut edge with a flat blade screwdriver, the covering can easily be 42 -lifted and peeled off.</font> 43 - <p><font face="Verdana" size="2">On smaller pieces the coverings 44 -can be more difficult to remove. If you have trouble you can gently 45 -scrape the cut edge, then use duct tape to lift the covering off.</font></p> 46 - <p><font face="Verdana" size="2">For further information on 47 -lexan, see <a href="http://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this 48 -page</a>.</font></p> 49 - </td> 50 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/lexan01.jpg" border="2" height="240" hspace="10" width="320"><br> 51 -Lexan Preparation.</font></td> 52 - </tr> 53 - <tr> 54 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 55 - </tr> 56 - <tr> 57 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br> 58 -Connect the "C" bracket to the large "C" bracket as shown. Use two 2-56 59 -x 1/4" screws and 2-56 nuts.<br> 60 - <font face="Verdana, Helvetica, sans-serif" size="2"> </font> 61 - <table border="0" width="100%"> 62 - <tbody> 63 - <tr> 64 - <td width="50%"><font face="Verdana" size="2"><b>2 x </b></font></td> 65 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 66 - </tr> 67 - <tr> 68 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td> 69 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td> 70 - </tr> 71 - </tbody> 72 - </table> 73 - </font></td> 74 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b01.jpg" border="2" height="240" hspace="10" width="320"><br> 75 -Figure 1.</font></td> 76 - </tr> 77 - <tr> 78 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 79 - </td> 80 - </tr> 81 - <tr> 82 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br> 83 - </b></font><font face="Verdana" size="2">Install the mechanical 84 -dampening panels as shown. Use four 2-56 x 1/4 inch 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 removed from the Lexan parts.</font><font face="Verdana" size="2"> 85 -Press down when screwing to ensure there is no gap between the Lexan 86 -and the aluminum, as the screw will be threading the Lexan. </font><br> 87 - <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/al5b-arm-rev-2-1/WebHome/arm02.GIF" border="2" height="96" width="320"></font></p> 88 - </td> 89 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b02.jpg" border="2" height="240" hspace="10" width="320"><br> 90 -Figure 2.</font></td> 91 - </tr> 92 - <tr> 93 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 94 - </tr> 95 - <tr> 96 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br> 97 - </b>Insert the 4-40 x .5" Phillips head screw through the hole in 98 -the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 99 - </font> 100 - <table border="0" width="100%"> 101 - <tbody> 102 - <tr> 103 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 104 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 105 - </tr> 106 - <tr> 107 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td> 108 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td> 109 - </tr> 110 - </tbody> 111 - </table> 112 - </td> 113 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5a03.jpg" border="2" height="240" hspace="10" width="320"><br> 114 -Figure 3.</font></td> 115 - </tr> 116 - <tr> 117 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 118 - </tr> 119 - <tr> 120 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br> 121 - </b>Slide the large "C" bracket end of the bracket assembly over 122 -the screw as shown, and secure with a nylon insert lock nut. The amount 123 -of friction can be adjusted by tightening or loosening the lock nut. 124 -Start with the nut loose, and if the arm seems to wobble a bit, you can 125 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution 126 -- don't over-tighten this! If the arm is operated with the mechanical 127 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 128 - </font> 129 - <table border="0" width="100%"> 130 - <tbody> 131 - <tr> 132 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 133 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 134 - </tr> 135 - <tr> 136 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td> 137 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 138 - </tr> 139 - </tbody> 140 - </table> 141 - </td> 142 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5a04.jpg" border="2" height="240" hspace="10" width="320"><br> 143 -Figure 4.</font></td> 144 - </tr> 145 - <tr> 146 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 147 - </td> 148 - </tr> 149 - <tr> 150 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step 151 -5.<br> 152 - </b>Figure 5 show a typical mega-size servo with its default 153 -servo horn at center position. You will need to replace this black 154 -servo horn with the round nylon servo horn.</font> 155 - <p><font face="Verdana" size="2">Remove the servo horn screw, 156 -being careful to not rotate the servo horn itself. Pull the servo horn 157 -off, then press the nylon servo horn in place, as close to the 158 -alignment shown as possible. Replace the servo horn screw.</font></p> 159 - <p><font face="Verdana" size="2">Make sure your servo looks like 160 -the image. The arrows in the image point to the screw holes you will 161 -use.</font></p> 162 - </td> 163 - <td align="center" valign="bottom" width="50%"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/mservo01.jpg" border="2" height="240" hspace="10" width="320"><br> 164 - <font face="Verdana" size="2">Figure 5.</font></td> 165 - </tr> 166 - <tr> 167 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 168 - </tr> 169 - <tr> 170 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br> 171 - </b>Attach the HS-755HB servo to the base bracket as shown using 172 -the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping 173 -screws to secure the bracket to the servo horn. Route the shoulder 174 -servo wires underneath the servo. Plug the servo into channel 1 on the 175 -SSC-32. Carefully rotate the base to an extreme, and use a wire tie to 176 -take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 177 - </font> 178 - <table border="0" width="100%"> 179 - <tbody> 180 - <tr> 181 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 182 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 183 - </tr> 184 - <tr> 185 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td> 186 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td> 187 - </tr> 188 - <tr> 189 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b> </b></font></td> 190 - </tr> 191 - <tr> 192 - <td colspan="2" width="100%"> 193 - <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p> 194 - </td> 195 - </tr> 196 - </tbody> 197 - </table> 198 - </td> 199 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5a21.jpg" border="2" height="240" hspace="10" width="320"><br> 200 -Figure 6.</font></td> 201 - </tr> 202 - <tr> 203 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 204 - </td> 205 - </tr> 206 - <tr> 207 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br> 208 - </b>Attach two of the tubing connector hubs to the short side of 209 -the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 210 - </font> 211 - <table border="0" width="100%"> 212 - <tbody> 213 - <tr> 214 - <td width="50%"><font face="Verdana" size="2"><b>4 x (two 215 -each)<br> 216 - </b></font></td> 217 - <td width="50%"><font face="Verdana" size="2"><b>4 x (two 218 -each)<br> 219 - </b></font></td> 220 - </tr> 221 - <tr> 222 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td> 223 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td> 224 - </tr> 225 - </tbody> 226 - </table> 227 - </td> 228 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5a05.jpg" border="2" height="240" hspace="10" width="320"><br> 229 -Figure 7.</font></td> 230 - </tr> 231 - <tr> 232 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 233 - </tr> 234 - <tr> 235 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br> 236 - </b>Connect the hubs to the 2.25" tube using two 4-40 x .250" 237 -screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 238 - </font> 239 - <table border="0" width="100%"> 240 - <tbody> 241 - <tr> 242 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 243 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 244 - </tr> 245 - <tr> 246 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/4250hscs.GIF" border="2" height="96" width="160"></font></td> 247 - <td width="50%"><font face="Verdana" size="2"> </font></td> 248 - </tr> 249 - </tbody> 250 - </table> 251 - </td> 252 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b03.jpg" border="2" height="240" hspace="10" width="320"><br> 253 -Figure 8.</font></td> 254 - </tr> 255 - <tr> 256 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 257 - </tr> 258 - <tr> 259 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br> 260 - </b>Attach the tubing structure to two Multi-Purpose brackets as 261 -shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 262 - </font> 263 - <table border="0" width="100%"> 264 - <tbody> 265 - <tr> 266 - <td width="50%"><font face="Verdana" size="2"><b>4 x (two 267 -each)<br> 268 - </b></font></td> 269 - <td width="50%"><font face="Verdana" size="2"><b>4 x (two 270 -each)<br> 271 - </b></font></td> 272 - </tr> 273 - <tr> 274 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td> 275 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td> 276 - </tr> 277 - </tbody> 278 - </table> 279 - </td> 280 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b04.jpg" border="2" height="240" hspace="10" width="320"><br> 281 -Figure 9.</font></td> 282 - </tr> 283 - <tr> 284 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 285 - </td> 286 - </tr> 287 - <tr> 288 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br> 289 -Insert the 4-40 x .5" Phillips head screw through the hole in the 290 -multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 291 - </font> 292 - <table border="0" width="100%"> 293 - <tbody> 294 - <tr> 295 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 296 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 297 - </tr> 298 - <tr> 299 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td> 300 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td> 301 - </tr> 302 - </tbody> 303 - </table> 304 - </td> 305 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5a08.jpg" border="2" height="240" hspace="10" width="320"><br> 306 -Figure 10.</font></td> 307 - </tr> 308 - <tr> 309 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 310 - </tr> 311 - <tr> 312 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br> 313 - </b>Slide the screw on the forearm assembly through the dampening 314 -discs as shown, and secure with a nylon insert lock nut. The amount of 315 -friction can be adjusted by tightening or loosening the lock nut. Start 316 -with the nut loose, and if the arm seems to wobble a bit, you can 317 -tighten this joint to correct the wobble. <b><font color="#ff0000">Caution 318 -- don't over-tighten this! If the arm is operated with the mechanical 319 -dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 320 - </font> 321 - <table border="0" width="100%"> 322 - <tbody> 323 - <tr> 324 - <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td> 325 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 326 - </tr> 327 - <tr> 328 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td> 329 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 330 - </tr> 331 - </tbody> 332 - </table> 333 - </td> 334 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b05.jpg" border="2" height="240" hspace="10" width="320"><br> 335 -Figure 11.</font></td> 336 - </tr> 337 - <tr> 338 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 339 - </tr> 340 - <tr> 341 - <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step 342 -12.<br> 343 - </b>Figure 12 illustrates a typical standard-size servo with its 344 -output horn (the round white part) at center position. Make sure your 345 -servo looks like the image. The arrows in the image point to the screw 346 -holes you will use.</font></td> 347 - <td align="center" valign="bottom" width="50%"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/servo02.jpg" border="2" height="240" hspace="10" width="320"><br> 348 - <font face="Verdana" size="2">Figure 12.</font></td> 349 - </tr> 350 - <tr> 351 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 352 - </td> 353 - </tr> 354 - <tr> 355 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br> 356 -Attach the HS-645MG elbow servo to the bracket as shown using the 3mm 357 -hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to 358 -secure the bracket to the servo horn. Route the shoulder servo wires 359 -over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 360 - </font> 361 - <table border="0" width="100%"> 362 - <tbody> 363 - <tr> 364 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 365 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 366 - </tr> 367 - <tr> 368 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td> 369 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td> 370 - </tr> 371 - <tr> 372 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b> </b></font></td> 373 - </tr> 374 - <tr> 375 - <td colspan="2" width="100%"> 376 - <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/al5b-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p> 377 - </td> 378 - </tr> 379 - </tbody> 380 - </table> 381 - </td> 382 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b06.jpg" border="2" height="240" hspace="10" width="320"><br> 383 -Figure 13.</font></td> 384 - </tr> 385 - <tr> 386 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 387 - </tr> 388 - <tr> 389 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br> 390 - </b>Attach the Little Gripper connector to the short "C" bracket 391 -using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 392 - </font> 393 - <table border="0" width="100%"> 394 - <tbody> 395 - <tr> 396 - <td width="50%"><font face="Verdana" size="2"><b>2 x </b></font></td> 397 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 398 - </tr> 399 - <tr> 400 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td> 401 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td> 402 - </tr> 403 - </tbody> 404 - </table> 405 - </td> 406 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5a11.jpg" border="2" height="240" hspace="10" width="320"><br> 407 -Figure 14.</font></td> 408 - </tr> 409 - <tr> 410 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 411 - </td> 412 - </tr> 413 - <tr> 414 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br> 415 - </b>Attach the short "C" bracket to the other Multi-purpose 416 -bracket as shown.</font> 417 - <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/al5b-arm-rev-2-1/WebHome/ballb02b.gif" border="2" height="96" hspace="10" width="320"><br> 418 -</font></p> 419 - </td> 420 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5a12.jpg" border="2" height="240" hspace="10" width="320"><br> 421 -Figure 15.</font></td> 422 - </tr> 423 - <tr> 424 - <td colspan="2" align="left" valign="top" width="100%"> </td> 425 - </tr> 426 - <tr> 427 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br> 428 - </b>Attach the HS-485HB wrist servo to the bracket as shown using 429 -the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping 430 -screws to secure the bracket to the servo horn. Route the shoulder 431 -servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 432 - </font> 433 - <table border="0" width="100%"> 434 - <tbody> 435 - <tr> 436 - <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td> 437 - <td width="50%"><font face="Verdana" size="2"><b> </b></font></td> 438 - </tr> 439 - <tr> 440 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td> 441 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td> 442 - </tr> 443 - <tr> 444 - <td colspan="2" width="100%"><font face="Verdana" size="2"><b> </b></font></td> 445 - </tr> 446 - <tr> 447 - <td colspan="2" width="100%"> 448 - <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/al5b-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p> 449 - </td> 450 - </tr> 451 - </tbody> 452 - </table> 453 - </td> 454 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5a13.jpg" border="2" height="240" hspace="10" width="320"><br> 455 -Figure 16.</font></td> 456 - </tr> 457 - <tr> 458 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 459 - </td> 460 - </tr> 461 - <tr> 462 - <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br> 463 - </b>Attach the Little Grip to the lexan as shown, using three 464 -4-40 x .375" button head screws and acorn locking nuts. Only three 465 -screws are used (shown in the image) as the body of the gripper servo 466 -is in the way for the fourth.</font> 467 - <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD 468 -may be substituted) servo is aligned to mid-position, and the gripper 469 -is halfway open. Now the servo and gripper will be aligned correctly. 470 -Remove the servo screw and horn. Slide the servo into the gripper from 471 -the bottom. You may need to wiggle it a bit to get it seated properly. 472 -Use the servo screw to attach the servo. Tighten this down, but then 473 -unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 474 - </font> </p> 475 - <table border="0" width="100%"> 476 - <tbody> 477 - <tr> 478 - <td width="50%"><font face="Verdana" size="2"><b>3 x</b></font></td> 479 - <td width="50%"><font face="Verdana" size="2"><b>3 x</b></font></td> 480 - </tr> 481 - <tr> 482 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/4375hbs.gif" border="2" height="96" width="160"></b></font></td> 483 - <td width="50%"><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/al5b-arm-rev-2-1/WebHome/440nan.GIF" border="2" height="96" width="160"></b></font></td> 484 - </tr> 485 - </tbody> 486 - </table> 487 - 488 - <p><font face="Verdana" size="2"><b>Step 18.</b><br> 489 -Add a 12" servo extender cable to the gripper servo, and a 6" extender 490 -cable to the wrist servo.</font></p> 491 - </td> 492 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5a14.jpg" border="2" height="240" width="320"><br> 493 -Figure 17.<br> 494 - </font></td> 495 - </tr> 496 - <tr> 497 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b07.jpg" border="2" height="240" width="320"><br> 498 -Figure 18.</font></td> 499 - </tr> 500 - <tr> 501 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 502 - </tr> 503 - <tr> 504 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br> 505 - </b>Carefully bend the wrist servo back as far as it will go, and 506 -use wire ties to secure the servo cables as shown. Make sure to leave 507 -slack in the gripper servo cable, don't pull it too tight.</font></td> 508 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b08.jpg" border="2" height="240" width="320"><br> 509 -Figure 19.</font></td> 510 - </tr> 511 - <tr> 512 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 513 - </td> 514 - </tr> 515 - <tr> 516 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 20.<br> 517 - </b>Carefully stretch the arm forward as far as it will go, and 518 -use wire ties to secure the servo cables as shown. Make sure to leave 519 -slack in the cables, don't pull them too tight. Plug the servos in 520 -according to Table 20.<br> 521 - </font> 522 - <div align="center"> 523 - <center> 524 - <table border="1" bordercolor="#ffffff" width="320"> 525 - <tbody> 526 - <tr> 527 - <td width="100%"> 528 - <div align="center"> 529 - <table border="1" bordercolor="#000000" width="320"> 530 - <tbody> 531 - <tr> 532 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32 533 -I/O</b></font></td> 534 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td> 535 - </tr> 536 - <tr> 537 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td> 538 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td> 539 - </tr> 540 - <tr> 541 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td> 542 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td> 543 - </tr> 544 - <tr> 545 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td> 546 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td> 547 - </tr> 548 - <tr> 549 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td> 550 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td> 551 - </tr> 552 - <tr> 553 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td> 554 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td> 555 - </tr> 556 - <tr> 557 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td> 558 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist 559 -Rotate (Optional)</font></td> 560 - </tr> 561 - </tbody> 562 - </table> 563 - </div> 564 - </td> 565 - </tr> 566 - <tr> 567 - <td bordercolor="#FFFFFF"> 568 - <p align="center"><font face="Verdana" size="2">Table 20.</font></p> 569 - </td> 570 - </tr> 571 - </tbody> 572 - </table> 573 - </center> 574 - </div> 575 - </td> 576 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b09.jpg" border="2" height="240" width="320"><br> 577 -Figure 20.</font></td> 578 - </tr> 579 - <tr> 580 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 581 - </tr> 582 - <tr> 583 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 21a (SSC-32 / Lynxterm).</b><br>If 584 -you have the SSC-32U, please proceed to step 21b. If you have the 585 -SSC-32, as in the Base Assembly Instructions, we'll use LynxTerm to 586 -test the 587 -servos and confirm that they're all plugged into the proper channels. 588 -If not done before, download and install <a href="http://www.lynxmotion.com/showproduct.aspx?productID=567&CategoryID=15#downloads" target="_blank">LynxTerm v1.08</a> or higher. Connect the SSC-32 to 589 -the serial port and apply power. The green LED should light and stay on 590 -until it receives a valid serial command. Run the LynxTerm program. If 591 -LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial 592 -and USB-to-serial troubleshooting guide</a>.</font> 593 - <p><font face="Verdana" size="2"><b>Step 22.</b><br> 594 -Now test the servos and connections by selecting a channel, and moving 595 -the servo carefully using the slider bar. Verify that the servos are 596 -plugged into the channels as listed in Table 20. Easy does it; this is 597 -real time control, so be careful!</font></p> 598 - </td> 599 - <td align="left" valign="top" width="50%"> 600 - <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/al5b-arm-rev-2-1/WebHome/lterm01.jpg" border="2" height="243" hspace="10" width="320"><br> 601 -Figure 21a (Lynxterm).</font></p> 602 - </td> 603 - </tr> 604 - <tr> 605 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 606 - </tr> 607 - <tr> 608 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 609 -21b (SSC-32U / Servo Utility).<br> 610 - </b>Just like in the base instructions, we will use the SSC-32 Servo 611 -Sequencer Utility to test the servos and confirm they are all plugged 612 -into their proper servo channels and oriented correctly. If not done so 613 -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 614 -cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run 615 -the program.<br> 616 - <br> 617 -The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate 618 -towards the bottom right of the window is set to 9600 (not 115200). The 619 -software should automatically detect which COM port is connected to the 620 -SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI 621 -(USB to serial) drivers</a> automatically.<br> 622 -<br></font><font face="Verdana" size="2"> 623 -Ensure Servos 0 4 are checked off in the software (and therefore accessible). </font><font face="Verdana" size="2">You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are 624 -plugged into the channels as listed in Table 20. Easy does it; this is 625 -real time control, so be careful.<br> 626 -<br> 627 -For more information, please consult the <a href="http://www.flowbotics.com/manuals/ssc-32_servo_sequencer.pdf" target="_blank">SSC-32 Servo Sequencer Utility manual</a>. </font></td> 628 - <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/al5b-arm-rev-2-1/WebHome/RB-Dsp-07.jpg" border="2" height="240" hspace="10" width="320"><br> 629 629 630 - <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td> 631 - </tr> 632 - <tr> 633 - <td style="vertical-align: top;"><br> 634 - </td> 635 - <td style="vertical-align: top;"><br> 636 - </td> 637 - </tr> 638 -<tr> 639 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br> 640 -Click on the "All = 1500" button in LynxTerm. This will command the 641 -servos to hold center position. Your arm should look like Figure 22. If 642 -any joint is off by more than 15°, then you may have made an error in 643 -assembly.<br> 644 - <br> 645 -</font><font face="Verdana" size="2"> 646 -If you did not purchase the RIOS software, please proceed to step 27.</font><br> 647 - 648 - <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/al5b-arm-rev-2-1/WebHome/lterm02.jpg" border="2" height="120" hspace="10" width="320"></font></p> 649 - </td> 650 - <td align="left" valign="top" width="50%"> 651 - <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/al5b-arm-rev-2-1/WebHome/al5b13.jpg" border="2" height="240" hspace="10" width="320"><br> 652 -Figure 22.</font></p> 653 - </td> 654 - </tr> 655 - <tr> 656 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 657 - </td> 658 - </tr> 659 - <tr> 660 - <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br> 661 -Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility. 662 -A knob next to each servo will appear (figure 23b). This knob is used 663 -to fine tune the servo's center position. The knob is not intended to 664 -be rotated: click the knob you wish to rotate, keeping the mouse button 665 -down, and drag up and down to rotate the knob. Do this for each servo 666 -until the arm looks like figure 22, and angles are 90 and 180 degrees. 667 -If 668 -any joint is off by more than 15°, then you may have made an error in 669 -assembly.<br> 670 - <br> 671 - </font><font face="Verdana" size="2"> 672 -Once all servos have been properly positioned, click the icon 673 -"Calibrate" once again, and the offset values will be stored on the 674 -SSC-32 / SSC-32U.</font><br> 675 - <font face="Verdana" size="2"> 676 -<br> 677 -If you did not purchase the RIOS software, please proceed to step 27.</font></td> 678 - <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/al5b-arm-rev-2-1/WebHome/ssc-32-utility-calibrate.jpg" border="2"><br> 679 -<font face="Verdana" size="2"> 680 -Figure 22b (SSC-32 Utility).</font></td> 681 - </tr> 682 - <tr> 683 - <td style="vertical-align: top;"><br> 684 - </td> 685 - <td style="vertical-align: top;"><br> 686 - </td> 687 - </tr> 688 -<tr> 689 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 23 (RIOS Users Only).<br> 690 - </b>To use the RIOS Arm control software, you need to make one 691 -minor modification. Remove the servo horn screw from the elbow servo. 692 -Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at 693 -the elbow and reattach the servo horn and screw. Note, the Hitec spline 694 -has 24 grooves, so each groove is 15°.</font></td> 695 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b10.jpg" border="2" height="240" width="320"><br> 696 -Figure 23.</font></td> 697 - </tr> 698 - <tr> 699 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 700 - </tr> 701 - <tr> 702 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.</b><br> 703 -At this point the arms is assembled and tested using LynxTerm. Now we 704 -need to install RIOS and calibrate the arm to the software. Use the 705 -RIOS Help File to calibrate and use the arm.</font> 706 - <p><font face="Verdana" size="2">Install RIOS, following the 707 -on-screen installation prompts. The serial number is on the back of the 708 -CD sleeve.</font></p> 709 - <p><font face="Verdana" size="2">Use the RIOS Help File to 710 -calibrate and use the arm, following Steps 1-7. When you get to Step 8 711 -in the help file, please use the following instructions instead.</font></p> 712 - <p><font face="Verdana" size="2">Please take the time to do an 713 -accurate calibration. The performance of the arm will only be as good 714 -as the calibration. If the on screen virtual arm does not match the 715 -real arm this is a sign of an inaccurate calibration. After calibration 716 -please study the RIOS manual carefully to learn how to store and 717 -playback sequences for the arm.</font></p> 718 - </td> 719 - <td align="left" valign="top" width="50%"> 720 - <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/al5b-arm-rev-2-1/WebHome/rios03.jpg" border="2" height="240" hspace="10" width="320"></font><br> 721 - <font face="Verdana" size="2"> 722 -Figure 24 (RIOS).</font></p> 723 - </td> 724 - </tr> 725 - <tr> 726 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 727 - </tr> 728 - <tr> 729 - <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> 730 -To calibrate the arm's Shoulder servo, click the "SSC-32" button.</font></td> 731 - <td align="left" valign="top" width="50%"> 732 - <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/al5b-arm-rev-2-1/WebHome/rios04.jpg" border="2" height="240" hspace="10" width="320"></font><br> 733 - <font face="Verdana" size="2"> 734 -Figure 25 (RIOS).</font></p> 735 - </td> 736 - </tr> 737 - <tr> 738 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 739 - </td> 740 - </tr> 741 - <tr> 742 - <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> 743 -Start the servo configuration with the Shoulder, servo #2. Move the 744 -shoulder slider up to move the shoulder forward so that it looks like 745 -Figure 27-2. Set the Min Deg angle -90°. Right click on the slider to 746 -set this as the Min Position. Now the servo will not go past this 747 -value, and the program now knows this value is exactly 90° from 748 -centered.</font> 749 - <p><font face="Verdana" size="2">Now move the slider down to move 750 -the shoulder backward so that it looks like Figure 27-3. Set the Max 751 -Deg angle to 90°. Right click on the slider to set this as the Max 752 -Position. Now the servo will not go past this value, and the program 753 -now knows this value is exactly 90° from centered.</font></p> 754 - <p><font face="Verdana" size="2">The next step is to read and 755 -study the RIOS users guide. It is accessible by clicking on the help 756 -icon on the main screen or by navigating to the install directory 757 -(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This 758 -manual explains in great detail how to use the arm.</font></p> 759 - 760 - </td> 761 - <td align="left" valign="top" width="50%"> 762 - <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/al5b-arm-rev-2-1/WebHome/rios01.jpg" border="2" height="240" hspace="10" width="321"><br> 763 -Figure 26-1 (RIOS).</font></p> 764 - </td> 765 - </tr> 766 - <tr> 767 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 768 - </tr> 769 - <tr> 770 - <td align="left" valign="top" width="50%"> 771 - <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/al5b-arm-rev-2-1/WebHome/al5_90.jpg" border="2" height="240" hspace="10" width="320"><br> 772 -Figure 26-2.</font></p> 773 - </td> 774 - <td align="left" valign="top" width="50%"> 775 - <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/al5b-arm-rev-2-1/WebHome/al5_902.jpg" border="2" height="240" hspace="10" width="320"><br> 776 -Figure 26-3.</font></p> 777 - </td> 778 - </tr> 779 - <tr> 780 - <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2"> </font></td> 781 - </tr> 782 - <tr> 783 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br> 784 - </b>To connect springs for load-balancing, replace the servo 785 -attachment hardware in the locations shown, following the diagrams 786 -below. Hook the springs together after they're secured.</font> 787 - <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/spr03.gif" border="2" height="96" width="320"></p> 788 - <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/spr02.gif" border="2" height="96" width="320"></p> 789 - </td> 790 - <td align="center" valign="top" width="50%"><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/al5b-arm-rev-2-1/WebHome/al5b11.jpg" border="2" height="240" width="320"><br> 791 -Figure 27.</font></td> 792 - </tr> 793 - <tr> 794 - <td colspan="2" align="left" valign="top" width="100%"><br class="pb"> 795 - </td> 796 - </tr> 797 - <tr> 798 - <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br> 799 - </b>The arm assembly is complete. </font><font face="Verdana" size="2"> The arm is robust mechanically, 800 -but the servos can be damaged by improper use. An example would be if 801 -the arm was told to move to an unobtainable position, like the surface 802 -the arm is mounted to, or by crashing the arm into itself, or other 803 -objects. The elbow servo is the most vulnerable because it holds the 804 -entire weight of the forearm. Load balancing springs should be added to 805 -reduce some of this load.<br> 806 - <br> 807 - </font><font face="Verdana" size="2">If you purchased FlowBotics Studio, 808 -FlowStone or FlowArm, you can proceed with the instruction guide(s) 809 -associated with those programs.</font><br> 810 - 811 - 812 - <p><font color="#ff0000" face="Verdana" size="2"><b> People do 813 -not like holding heavy objects with their arms outstretched in front of 814 -them. Servo based robot arms don't like it much either. Remember, the 815 -most important rule for servo based robot arms: Park the arm when not 816 -in motion! When it's moving or at rest it's usually ok. When it's 817 -holding an object it should do so for the minimum amount of time 818 -required to do the job. You can always touch the servo case to see if 819 -it's getting hot.</b> </font> </p> 820 - </td> 821 - <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br> 822 -</font></td> 823 - </tr> 824 - </tbody> 825 -</table> 826 - 827 -</body> 828 828 {{/html}}