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Eric Nantel 54.1 2 <table style="" border="0" cellpadding="0" cellspacing="0">
Eric Nantel 51.1 3 <tbody>
4 <tr>
Eric Nantel 54.1 5 <td style="vertical-align: top; text-align: left; "><b><font face="Verdana" size="2">AL5B Arm Assembly Instructions Rev. 2.1.</font></b>
Eric Nantel 51.1 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>
Eric Nantel 53.1 34 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 35 </tr>
36 <tr>
Eric Nantel 52.1 37 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Lexan Preparation.<br>
Eric Nantel 51.1 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
Eric Nantel 55.1 47 lexan, see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" target="_blank">this
Eric Nantel 51.1 48 page</a>.</font></p>
49 </td>
Eric Nantel 52.1 50 <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/al5b-arm-rev-2-1/WebHome/lexan01.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 51 Lexan Preparation.</font></td>
52 </tr>
53 <tr>
Eric Nantel 52.1 54 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 55 </tr>
56 <tr>
Eric Nantel 52.1 57 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 1.</b><br>
Eric Nantel 51.1 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">&nbsp;</font>
Eric Nantel 52.1 61 <table border="0" >
Eric Nantel 51.1 62 <tbody>
63 <tr>
Eric Nantel 52.1 64 <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
65 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
Eric Nantel 51.1 66 </tr>
67 <tr>
Eric Nantel 52.1 68 <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/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
69 <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/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 51.1 70 </tr>
71 </tbody>
72 </table>
73 </font></td>
Eric Nantel 52.1 74 <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/al5b-arm-rev-2-1/WebHome/al5b01.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 75 Figure 1.</font></td>
76 </tr>
77 <tr>
Eric Nantel 52.1 78 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 79 </td>
80 </tr>
81 <tr>
Eric Nantel 52.1 82 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 2.<br>
Eric Nantel 51.1 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>
Eric Nantel 52.1 89 <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/al5b-arm-rev-2-1/WebHome/al5b02.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 90 Figure 2.</font></td>
91 </tr>
92 <tr>
Eric Nantel 52.1 93 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 94 </tr>
95 <tr>
Eric Nantel 52.1 96 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 3.<br>
Eric Nantel 51.1 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 &nbsp;</font>
Eric Nantel 52.1 100 <table border="0" >
Eric Nantel 51.1 101 <tbody>
102 <tr>
Eric Nantel 52.1 103 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
104 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
Eric Nantel 51.1 105 </tr>
106 <tr>
Eric Nantel 52.1 107 <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/al5b-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
108 <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/al5b-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
Eric Nantel 51.1 109 </tr>
110 </tbody>
111 </table>
112 </td>
Eric Nantel 52.1 113 <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/al5b-arm-rev-2-1/WebHome/al5a03.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 114 Figure 3.</font></td>
115 </tr>
116 <tr>
Eric Nantel 52.1 117 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 118 </tr>
119 <tr>
Eric Nantel 52.1 120 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 4.<br>
Eric Nantel 51.1 121 </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 &nbsp;</font>
Eric Nantel 52.1 129 <table border="0" >
Eric Nantel 51.1 130 <tbody>
131 <tr>
Eric Nantel 52.1 132 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
133 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 134 </tr>
135 <tr>
Eric Nantel 52.1 136 <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/al5b-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
137 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 138 </tr>
139 </tbody>
140 </table>
141 </td>
Eric Nantel 52.1 142 <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/al5b-arm-rev-2-1/WebHome/al5a04.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 143 Figure 4.</font></td>
144 </tr>
145 <tr>
Eric Nantel 52.1 146 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 147 </td>
148 </tr>
149 <tr>
Eric Nantel 52.1 150 <td valign="top" ><font face="Verdana" size="2"><b>Step
Eric Nantel 51.1 151 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>
Eric Nantel 52.1 163 <td align="center" valign="bottom" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/mservo01.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 164 <font face="Verdana" size="2">Figure 5.</font></td>
165 </tr>
166 <tr>
Eric Nantel 52.1 167 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 168 </tr>
169 <tr>
Eric Nantel 52.1 170 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 6.<br>
Eric Nantel 51.1 171 </b>Attach the HS-755HB servo to the base bracket as shown using
172 the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
173 screws to secure the bracket to the servo horn. Route the shoulder
174 servo wires underneath the servo. Plug the servo into channel 1 on the
175 SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
176 take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
177 &nbsp;</font>
Eric Nantel 52.1 178 <table border="0" >
Eric Nantel 51.1 179 <tbody>
180 <tr>
Eric Nantel 52.1 181 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
182 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 183 </tr>
184 <tr>
Eric Nantel 52.1 185 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
186 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 51.1 187 </tr>
188 <tr>
Eric Nantel 52.1 189 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 190 </tr>
191 <tr>
Eric Nantel 52.1 192 <td colspan="2" >
Eric Nantel 51.1 193 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/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>
Eric Nantel 52.1 199 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a21.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 200 Figure 6.</font></td>
201 </tr>
202 <tr>
Eric Nantel 52.1 203 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 204 </td>
205 </tr>
206 <tr>
Eric Nantel 52.1 207 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 7.<br>
Eric Nantel 51.1 208 </b>Attach two of the tubing connector hubs to the short side of
209 the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
210 &nbsp;</font>
Eric Nantel 52.1 211 <table border="0" >
Eric Nantel 51.1 212 <tbody>
213 <tr>
Eric Nantel 52.1 214 <td ><font face="Verdana" size="2"><b>4 x (two
Eric Nantel 51.1 215 each)<br>
216 </b></font></td>
Eric Nantel 52.1 217 <td ><font face="Verdana" size="2"><b>4 x (two
Eric Nantel 51.1 218 each)<br>
219 </b></font></td>
220 </tr>
221 <tr>
Eric Nantel 52.1 222 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
223 <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/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 51.1 224 </tr>
225 </tbody>
226 </table>
227 </td>
Eric Nantel 52.1 228 <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/al5b-arm-rev-2-1/WebHome/al5a05.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 229 Figure 7.</font></td>
230 </tr>
231 <tr>
Eric Nantel 52.1 232 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 233 </tr>
234 <tr>
Eric Nantel 52.1 235 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 8.<br>
Eric Nantel 51.1 236 </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 &nbsp;</font>
Eric Nantel 52.1 239 <table border="0" >
Eric Nantel 51.1 240 <tbody>
241 <tr>
Eric Nantel 52.1 242 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
243 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 244 </tr>
245 <tr>
Eric Nantel 52.1 246 <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/al5b-arm-rev-2-1/WebHome/4250hscs.GIF" border="2" height="96" width="160"></font></td>
247 <td ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 248 </tr>
249 </tbody>
250 </table>
251 </td>
Eric Nantel 52.1 252 <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/al5b-arm-rev-2-1/WebHome/al5b03.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 253 Figure 8.</font></td>
254 </tr>
255 <tr>
Eric Nantel 52.1 256 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 257 </tr>
258 <tr>
Eric Nantel 52.1 259 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 9.<br>
Eric Nantel 51.1 260 </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 &nbsp;</font>
Eric Nantel 52.1 263 <table border="0" >
Eric Nantel 51.1 264 <tbody>
265 <tr>
Eric Nantel 52.1 266 <td ><font face="Verdana" size="2"><b>4 x (two
Eric Nantel 51.1 267 each)<br>
268 </b></font></td>
Eric Nantel 52.1 269 <td ><font face="Verdana" size="2"><b>4 x (two
Eric Nantel 51.1 270 each)<br>
271 </b></font></td>
272 </tr>
273 <tr>
Eric Nantel 52.1 274 <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/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
275 <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/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 51.1 276 </tr>
277 </tbody>
278 </table>
279 </td>
Eric Nantel 52.1 280 <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/al5b-arm-rev-2-1/WebHome/al5b04.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 281 Figure 9.</font></td>
282 </tr>
283 <tr>
Eric Nantel 52.1 284 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 285 </td>
286 </tr>
287 <tr>
Eric Nantel 52.1 288 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 10.</b><br>
Eric Nantel 51.1 289 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 &nbsp;</font>
Eric Nantel 52.1 292 <table border="0" >
Eric Nantel 51.1 293 <tbody>
294 <tr>
Eric Nantel 52.1 295 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
296 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
Eric Nantel 51.1 297 </tr>
298 <tr>
Eric Nantel 52.1 299 <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/al5b-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
300 <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/al5b-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 51.1 301 </tr>
302 </tbody>
303 </table>
304 </td>
Eric Nantel 52.1 305 <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/al5b-arm-rev-2-1/WebHome/al5a08.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 306 Figure 10.</font></td>
307 </tr>
308 <tr>
Eric Nantel 52.1 309 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 310 </tr>
311 <tr>
Eric Nantel 52.1 312 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 11.<br>
Eric Nantel 51.1 313 </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 &nbsp;</font>
Eric Nantel 52.1 321 <table border="0" >
Eric Nantel 51.1 322 <tbody>
323 <tr>
Eric Nantel 52.1 324 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
325 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 326 </tr>
327 <tr>
Eric Nantel 52.1 328 <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/al5b-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
329 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 330 </tr>
331 </tbody>
332 </table>
333 </td>
Eric Nantel 52.1 334 <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/al5b-arm-rev-2-1/WebHome/al5b05.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 335 Figure 11.</font></td>
336 </tr>
337 <tr>
Eric Nantel 52.1 338 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 339 </tr>
340 <tr>
Eric Nantel 52.1 341 <td valign="top" ><font face="Verdana" size="2"><b>Step
Eric Nantel 51.1 342 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>
Eric Nantel 52.1 347 <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/al5b-arm-rev-2-1/WebHome/servo02.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 348 <font face="Verdana" size="2">Figure 12.</font></td>
349 </tr>
350 <tr>
Eric Nantel 52.1 351 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 352 </td>
353 </tr>
354 <tr>
Eric Nantel 52.1 355 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 13.</b><br>
Eric Nantel 51.1 356 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 &nbsp;</font>
Eric Nantel 52.1 361 <table border="0" >
Eric Nantel 51.1 362 <tbody>
363 <tr>
Eric Nantel 52.1 364 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
365 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 366 </tr>
367 <tr>
Eric Nantel 52.1 368 <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/al5b-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
369 <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/al5b-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 51.1 370 </tr>
371 <tr>
Eric Nantel 52.1 372 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 373 </tr>
374 <tr>
Eric Nantel 52.1 375 <td colspan="2" >
Eric Nantel 51.1 376 <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>
Eric Nantel 52.1 382 <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/al5b-arm-rev-2-1/WebHome/al5b06.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 383 Figure 13.</font></td>
384 </tr>
385 <tr>
Eric Nantel 52.1 386 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 387 </tr>
388 <tr>
Eric Nantel 52.1 389 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 14.<br>
Eric Nantel 51.1 390 </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 &nbsp;</font>
Eric Nantel 52.1 393 <table border="0" >
Eric Nantel 51.1 394 <tbody>
395 <tr>
Eric Nantel 52.1 396 <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
397 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
Eric Nantel 51.1 398 </tr>
399 <tr>
Eric Nantel 52.1 400 <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/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
401 <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/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 51.1 402 </tr>
403 </tbody>
404 </table>
405 </td>
Eric Nantel 52.1 406 <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/al5b-arm-rev-2-1/WebHome/al5a11.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 407 Figure 14.</font></td>
408 </tr>
409 <tr>
Eric Nantel 52.1 410 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 411 </td>
412 </tr>
413 <tr>
Eric Nantel 52.1 414 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 15.<br>
Eric Nantel 51.1 415 </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>
Eric Nantel 52.1 420 <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/al5b-arm-rev-2-1/WebHome/al5a12.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 421 Figure 15.</font></td>
422 </tr>
423 <tr>
Eric Nantel 52.1 424 <td colspan="2" align="left" valign="top" >&nbsp;</td>
Eric Nantel 51.1 425 </tr>
426 <tr>
Eric Nantel 52.1 427 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 16.<br>
Eric Nantel 51.1 428 </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 &nbsp;</font>
Eric Nantel 52.1 433 <table border="0" >
Eric Nantel 51.1 434 <tbody>
435 <tr>
Eric Nantel 52.1 436 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
437 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 438 </tr>
439 <tr>
Eric Nantel 52.1 440 <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/al5b-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
441 <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/al5b-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
Eric Nantel 51.1 442 </tr>
443 <tr>
Eric Nantel 52.1 444 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
Eric Nantel 51.1 445 </tr>
446 <tr>
Eric Nantel 52.1 447 <td colspan="2" >
Eric Nantel 51.1 448 <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>
Eric Nantel 52.1 454 <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/al5b-arm-rev-2-1/WebHome/al5a13.jpg" border="2" height="240" hspace="10" width="320"><br>
Eric Nantel 51.1 455 Figure 16.</font></td>
456 </tr>
457 <tr>
Eric Nantel 52.1 458 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 459 </td>
460 </tr>
461 <tr>
Eric Nantel 52.1 462 <td rowspan="2" align="left" valign="top" ><font face="Verdana" size="2"><b>Step 17.<br>
Eric Nantel 51.1 463 </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 &nbsp;</font> </p>
Eric Nantel 52.1 475 <table border="0" >
Eric Nantel 51.1 476 <tbody>
477 <tr>
Eric Nantel 52.1 478 <td ><font face="Verdana" size="2"><b>3 x</b></font></td>
479 <td ><font face="Verdana" size="2"><b>3 x</b></font></td>
Eric Nantel 51.1 480 </tr>
481 <tr>
Eric Nantel 52.1 482 <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/al5b-arm-rev-2-1/WebHome/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
483 <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/al5b-arm-rev-2-1/WebHome/440nan.GIF" border="2" height="96" width="160"></b></font></td>
Eric Nantel 51.1 484 </tr>
485 </tbody>
486 </table>
487 &nbsp;
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>
Eric Nantel 52.1 492 <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/al5b-arm-rev-2-1/WebHome/al5a14.jpg" border="2" height="240" width="320"><br>
Eric Nantel 51.1 493 Figure 17.<br>
494 &nbsp;</font></td>
495 </tr>
496 <tr>
Eric Nantel 52.1 497 <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/al5b-arm-rev-2-1/WebHome/al5b07.jpg" border="2" height="240" width="320"><br>
Eric Nantel 51.1 498 Figure 18.</font></td>
499 </tr>
500 <tr>
Eric Nantel 52.1 501 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 502 </tr>
503 <tr>
Eric Nantel 52.1 504 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 19.<br>
Eric Nantel 51.1 505 </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>
Eric Nantel 52.1 508 <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/al5b-arm-rev-2-1/WebHome/al5b08.jpg" border="2" height="240" width="320"><br>
Eric Nantel 51.1 509 Figure 19.</font></td>
510 </tr>
511 <tr>
Eric Nantel 52.1 512 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 513 </td>
514 </tr>
515 <tr>
Eric Nantel 52.1 516 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 20.<br>
Eric Nantel 51.1 517 </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 &nbsp;</font>
522 <div align="center">
523 <center>
524 <table border="1" bordercolor="#ffffff" width="320">
525 <tbody>
526 <tr>
Eric Nantel 52.1 527 <td >
Eric Nantel 51.1 528 <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>
Eric Nantel 52.1 576 <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/al5b-arm-rev-2-1/WebHome/al5b09.jpg" border="2" height="240" width="320"><br>
Eric Nantel 51.1 577 Figure 20.</font></td>
578 </tr>
579 <tr>
Eric Nantel 52.1 580 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 581 </tr>
582 <tr>
Eric Nantel 52.1 583 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 21a (SSC-32 / Lynxterm).</b><br>If
Eric Nantel 51.1 584 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.
Eric Nantel 55.1 588 If not done before, download and install <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. Connect the SSC-32 to
Eric Nantel 51.1 589 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
Eric Nantel 55.1 591 LynxTerm cannot connect, please consult the <a href="https://community.robotshop.com/forum/t/serial-usb-to-serial-port-troubleshooting/17938" target="_blank">serial
Eric Nantel 51.1 592 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>
Eric Nantel 52.1 599 <td align="left" valign="top" >
Eric Nantel 51.1 600 <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>
Eric Nantel 52.1 605 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 606 </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
Eric Nantel 55.1 613 before, download and install the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/ssc-32-sequencer/" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect the USB
Eric Nantel 51.1 614 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>
Eric Nantel 55.1 627 For more information, please consult the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-software/ssc-32-sequencer/WebHome/SSC32%20Servo%20Sequencer.pdf" target="_blank">SSC-32 Servo Sequencer Utility manual</a>. </font></td>
Eric Nantel 51.1 628 <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>
Eric Nantel 1.1 629
Eric Nantel 51.1 630 <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>
Eric Nantel 52.1 639 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
Eric Nantel 51.1 640 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>
Eric Nantel 52.1 650 <td align="left" valign="top" >
Eric Nantel 51.1 651 <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>
Eric Nantel 52.1 656 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 657 </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>
Eric Nantel 52.1 689 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 23 (RIOS Users Only).<br>
Eric Nantel 51.1 690 </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>
Eric Nantel 52.1 695 <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/al5b-arm-rev-2-1/WebHome/al5b10.jpg" border="2" height="240" width="320"><br>
Eric Nantel 51.1 696 Figure 23.</font></td>
697 </tr>
698 <tr>
Eric Nantel 52.1 699 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 700 </tr>
701 <tr>
Eric Nantel 52.1 702 <td align="left" valign="top" ><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>
Eric Nantel 51.1 703 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>
Eric Nantel 52.1 719 <td align="left" valign="top" >
Eric Nantel 51.1 720 <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>
Eric Nantel 52.1 726 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 727 </tr>
728 <tr>
Eric Nantel 52.1 729 <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 51.1 730 To calibrate the arm's Shoulder servo, click the "SSC-32" button.</font></td>
Eric Nantel 52.1 731 <td align="left" valign="top" >
Eric Nantel 51.1 732 <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>
Eric Nantel 52.1 738 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 739 </td>
740 </tr>
741 <tr>
Eric Nantel 52.1 742 <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 51.1 743 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>
Eric Nantel 52.1 761 <td align="left" valign="top" >
Eric Nantel 51.1 762 <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>
Eric Nantel 52.1 767 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 768 </tr>
769 <tr>
Eric Nantel 52.1 770 <td align="left" valign="top" >
Eric Nantel 51.1 771 <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>
Eric Nantel 52.1 774 <td align="left" valign="top" >
Eric Nantel 51.1 775 <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>
Eric Nantel 52.1 780 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 51.1 781 </tr>
782 <tr>
Eric Nantel 52.1 783 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 27.<br>
Eric Nantel 51.1 784 </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>
Eric Nantel 52.1 790 <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/al5b-arm-rev-2-1/WebHome/al5b11.jpg" border="2" height="240" width="320"><br>
Eric Nantel 51.1 791 Figure 27.</font></td>
792 </tr>
793 <tr>
Eric Nantel 52.1 794 <td colspan="2" align="left" valign="top" ><br class="pb">
Eric Nantel 51.1 795 </td>
796 </tr>
797 <tr>
Eric Nantel 52.1 798 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 28.<br>
Eric Nantel 51.1 799 </b>The arm assembly is complete.&nbsp;</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>
Eric Nantel 52.1 821 <td align="center" valign="top" ><font face="Verdana" size="2"><br>
Eric Nantel 51.1 822 </font></td>
823 </tr>
824 </tbody>
825 </table>
826
827 </body>
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