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1 1  {{html wiki="false" clean="true"}}
2 +<table style="width: 100%;" border="0" cellpadding="0" cellspacing="0">
2 2  
4 + <tbody>
5 + <tr>
6 + <td align="left" valign="top" ><b><font face="Verdana" size="2">AL5D Arm Assembly Instructions Rev. 2.1.</font></b>
7 + <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
8 + </font></b></p>
9 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
10 +protection and never touch a powered robot!</font></p>
11 + <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5D
12 +arm with either
13 +the SSC-32 or the SSC-32U servo controller. Take note of which version
14 +you have
15 +and follow each step accordingly, as the connections and configuration
16 +are different. Calibration of the arm is done using one of the
17 +following software:</span></strong></font></p>
18 + <ul>
19 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
20 + <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
21 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of
22 +a kit)</span></font></li>
23 + <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
24 + </ul>
25 + <p><font face="Verdana" size="2">Note: Loctite / thread lock
26 +can be used on the construction of the aluminum components, though it
27 +is not necessary if the nuts are properly tightened. However,
28 +don't use them with Lexan or plastic, as they are not necessary and may
29 +cause
30 +damage.</font></p>
31 + </td>
32 + <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/al5d-arm-rev-2-1/WebHome/al5d00.jpg" border="2" height="240" hspace="10" ><br>
33 + <b>Image of complete arm (SSC-32 shown).</b></font></td>
34 + </tr>
35 + <tr>
36 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
37 + </tr>
38 + <tr>
39 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Lexan Preparation.<br>
40 + </b>The lexan pieces have a protective covering that needs to be
41 +removed before assembly. When the laser cuts, the covering melts into
42 +the cut edge which can make removal difficult. If you gently scrape the
43 +cut edge with a flat blade screwdriver, the covering can easily be
44 +lifted and peeled off.</font>
45 + <p><font face="Verdana" size="2">On smaller pieces the coverings
46 +can be more difficult to remove. If you have trouble you can gently
47 +scrape the cut edge, then use duct tape to lift the covering off.</font></p>
48 + <p><font face="Verdana" size="2">For further information on
49 +lexan, see <a href="https://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
50 +page</a>.</font></p>
51 + </td>
52 + <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/al5d-arm-rev-2-1/WebHome/lexan01.jpg" border="2" height="240" hspace="10" ></font><br>
53 + <font face="Verdana" size="2">Lexan Preparation.</font></td>
54 + </tr>
55 + <tr>
56 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
57 + </tr>
58 + <tr>
59 + <td align="left" valign="top" >
60 + <p><font face="Verdana" size="2"><b>Step 1.</b><br>
61 +Connect the a large "C" bracket and an 805 "C" bracket together as
62 +shown. The 805 bracket is identified by its larger size and circlular
63 +extrusion. Use two 2-56 x 1/4" screws and 2-56 nuts.</font> </p>
64 + <table border="0" >
65 + <tbody>
66 + <tr>
67 + <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
68 + <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
69 + </tr>
70 + <tr>
71 + <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/al5d-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
72 + <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/al5d-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
73 + </tr>
74 + </tbody>
75 + </table>
76 + </td>
77 + <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/al5d-arm-rev-2-1/WebHome/al5d01.jpg" border="2" height="240" hspace="10" ><br>
78 +Figure 1.</font></td>
79 + </tr>
80 + <tr>
81 + <td colspan="2" align="left" valign="top" ><br class="pb">
82 + </td>
83 + </tr>
84 + <tr>
85 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 2.<br>
86 + </b>Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
87 +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
88 +removed from the Lexan parts.</font><font face="Verdana" size="2">
89 +Press down when screwing to ensure there is no gap between the Lexan
90 +and the aluminum, as the screw will be threading the Lexan.&nbsp; </font>
91 + <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/al5d-arm-rev-2-1/WebHome/arm02.GIF" border="2" height="96" ></font></p>
92 + </td>
93 + <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/al5d-arm-rev-2-1/WebHome/al5d02.jpg" border="2" height="240" hspace="10" ><br>
94 +Figure 2.</font></td>
95 + </tr>
96 + <tr>
97 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
98 + </tr>
99 + <tr>
100 + <td align="left" valign="top" >
101 + <p><font face="Verdana" size="2"><b>Step 3. <br>
102 + </b> </font> <font face="Verdana" size="2">Insert the 4-40 x
103 +.5" Phillips head screw through the hole in the multi-purpose bracket
104 +as shown. Secure with a steel nut.</font></p>
105 + <table border="0" >
106 + <tbody>
107 + <tr>
108 + <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
109 + <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
110 + </tr>
111 + <tr>
112 + <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/al5d-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
113 + <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/al5d-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
114 + </tr>
115 + </tbody>
116 + </table>
117 + </td>
118 + <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/al5d-arm-rev-2-1/WebHome/al5d03.jpg" border="2" height="240" hspace="10" ><br>
119 +Figure 3.</font></td>
120 + </tr>
121 + <tr>
122 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
123 + </tr>
124 + <tr>
125 + <td align="left" valign="top" >
126 + <p><font face="Verdana" size="2"><b>Step 4.<br>
127 + </b>Slide the large "C" bracket end of the bracket assembly over
128 +the screw as shown, and secure with a nylon insert lock nut. The amount
129 +of friction can be adjusted by tightening or loosening the lock nut.
130 +Start with the nut loose, and if the arm seems to wobble a bit, you can
131 +tighten this joint to correct the wobble. <b><font color="#ff0000"><br>
132 + </font></b></font></p>
133 + <p><font face="Verdana" size="2"><b><font color="#ff0000">Caution
134 +- don't over-tighten this! If the arm is operated with the mechanical
135 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font></p>
136 + <table border="0" >
137 + <tbody>
138 + <tr>
139 + <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
140 + <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
141 + </tr>
142 + <tr>
143 + <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
144 + <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
145 + </tr>
146 + </tbody>
147 + </table>
148 + </td>
149 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d04.jpg" border="2" height="240" hspace="10" ><br>
150 +Figure 4.</font></td>
151 + </tr>
152 + <tr>
153 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
154 + </tr>
155 + <tr>
156 + <td align="left" valign="top" >
157 + <p><font face="Verdana" size="2"><b>Step 5.<br>
158 + </b>Attach the HS-805BB servo to the base bracket as shown using
159 +the 3mm hardware; follow the diagram below. Use two #4 x 3/8" tapping
160 +screws to secure the bracket to the servo horn. Route the shoulder
161 +servo wires underneath the servo. Plug the servo into channel 1 on the
162 +SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
163 +take up the slack in the servo cable.</font></p>
164 + <table border="0" >
165 + <tbody>
166 + <tr>
167 + <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
168 + <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
169 + </tr>
170 + <tr>
171 + <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/al5d-arm-rev-2-1/WebHome/4375phts.gif" border="2" height="96" width="160"></font></td>
172 + <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/al5d-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
173 + </tr>
174 + <tr>
175 + <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;4
176 +x<br>
177 + </b></font></td>
178 + </tr>
179 + <tr>
180 + <td colspan="2" >
181 + <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/al5d-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" ></font></p>
182 + </td>
183 + </tr>
184 + </tbody>
185 + </table>
186 + </td>
187 + <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/al5d-arm-rev-2-1/WebHome/al5d05.jpg" border="2" height="240" hspace="10" ><br>
188 +Figure 5.</font></td>
189 + </tr>
190 + <tr>
191 + <td colspan="2" align="left" valign="top" ><br class="pb">
192 + </td>
193 + </tr>
194 + <tr>
195 + <td align="left" valign="top" >
196 + <p><font face="Verdana" size="2"><b>Step 6.<br>
197 + </b>Attach
198 +two of the tubing connector hubs to the short side of
199 +the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.
200 +Orientation is important; the hole in the tube should be as shown, so
201 +the tube lines up as in figure 7.<br>
202 + </font></p>
203 + <table border="0" >
204 + <tbody>
205 + <tr>
206 + <td ><font face="Verdana" size="2"><b>4 x (two
207 +each)<br>
208 + </b></font></td>
209 + <td ><font face="Verdana" size="2"><b>4 x (two
210 +each)<br>
211 + </b></font></td>
212 + </tr>
213 + <tr>
214 + <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/al5d-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
215 + <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/al5d-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
216 + </tr>
217 + </tbody>
218 + </table>
219 + </td>
220 + <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/al5d-arm-rev-2-1/WebHome/al5a05.jpg" border="2" height="240" hspace="10" ><br>
221 +Figure 6.</font></td>
222 + </tr>
223 + <tr>
224 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
225 + </tr>
226 + <tr>
227 + <td align="left" valign="top" >
228 + <p><font face="Verdana" size="2"><b>Step 7.<br>
229 + </b>Connect the hubs to the 4.50" tube using two 4-40 x .250"
230 +screws. Tighten these down tightly.</font></p>
231 + <table border="0" >
232 + <tbody>
233 + <tr>
234 + <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
235 + <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
236 + </tr>
237 + <tr>
238 + <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/al5d-arm-rev-2-1/WebHome/4250hscs.GIF" border="2" height="96" width="160"></font></td>
239 + <td ><font face="Verdana" size="2">&nbsp;</font></td>
240 + </tr>
241 + </tbody>
242 + </table>
243 + </td>
244 + <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/al5d-arm-rev-2-1/WebHome/al5d03(1).jpg" border="2" height="240" hspace="10" ><br>
245 +Figure 7.</font></td>
246 + </tr>
247 + <tr>
248 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
249 + </tr>
250 + <tr>
251 + <td align="left" valign="top" >
252 + <p><font face="Verdana" size="2"><b>Step 8.<br>
253 + </b>Attach one end of the tubing structure to a Standard
254 +Multi-Purpose bracket and
255 +the other end to a Large Multi-Purpose bracket as shown in the image,
256 +using four 2-56 x
257 +.250 screws and 2-56 nuts.</font></p>
258 + <table border="0" >
259 + <tbody>
260 + <tr>
261 + <td ><font face="Verdana" size="2"><b>4 x (two
262 +each)<br>
263 + </b></font></td>
264 + <td ><font face="Verdana" size="2"><b>4 x (two
265 +each)<br>
266 + </b></font></td>
267 + </tr>
268 + <tr>
269 + <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
270 + <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
271 + </tr>
272 + </tbody>
273 + </table>
274 + </td>
275 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d04(1).jpg" border="2" height="240" hspace="10" ><br>
276 +Figure 8.</font></td>
277 + </tr>
278 + <tr>
279 + <td colspan="2" align="left" valign="top" ><br class="pb">
280 + </td>
281 + </tr>
282 + <tr>
283 + <td align="left" valign="top" >
284 + <p><font face="Verdana" size="2"><b>Step 9.</b><br>
285 +Insert the 4-40 x .5" Phillips head screw through the hole in the large
286 +multi-purpose bracket in the location shown. Secure with a steel nut.</font></p>
287 + <table border="0" >
288 + <tbody>
289 + <tr>
290 + <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
291 + <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
292 + </tr>
293 + <tr>
294 + <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
295 + <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
296 + </tr>
297 + </tbody>
298 + </table>
299 + </td>
300 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5a08.jpg" border="2" height="240" hspace="10" ><br>
301 +Figure 9.</font></td>
302 + </tr>
303 + <tr>
304 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
305 + </tr>
306 + <tr>
307 + <td align="left" valign="top" >
308 + <p><font face="Verdana" size="2"><b>Step 10.<br>
309 + </b>Slide the screw on the forearm assembly through the dampening
310 +discs as shown, and secure with a nylon insert lock nut. The amount of
311 +friction can be adjusted by tightening or loosening the lock nut. Start
312 +with the nut loose, and if the arm seems to wobble a bit, you can
313 +tighten this joint to correct the wobble. <br>
314 + </font></p>
315 + <p><font face="Verdana" size="2"><b><font color="#ff0000">Caution
316 +- don't over-tighten this! If the arm is operated with the mechanical
317 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font>
318 + </p>
319 + <table border="0" >
320 + <tbody>
321 + <tr>
322 + <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
323 + <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
324 + </tr>
325 + <tr>
326 + <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/al5d-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
327 + <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
328 + </tr>
329 + </tbody>
330 + </table>
331 + </td>
332 + <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/al5d-arm-rev-2-1/WebHome/al5d06.jpg" border="2" height="240" hspace="10" ><br>
333 +Figure 10.</font></td>
334 + </tr>
335 + <tr>
336 + <td colspan="2" align="left" valign="top"><br class="pb">
337 + </td>
338 + </tr>
339 + <tr>
340 + <td valign="top"><font face="Verdana" size="2"><b>Step 11.<br>
341 + </b>Figure 5 show a typical mega-size servo with its default
342 +servo horn at center position. You will need to replace this black
343 +servo horn with the round nylon servo horn.</font>
344 + <p><font face="Verdana" size="2">Remove the servo horn screw,
345 +being careful to not rotate the servo horn itself. Pull the servo horn
346 +off, then press the nylon servo horn in place, as close to the
347 +alignment shown as possible. Replace the servo horn screw.</font></p>
348 + <p><font face="Verdana" size="2">Make sure your servo looks like
349 +the image. The arrows in the image point to the screw holes you will
350 +use.</font></p>
351 + </td>
352 + <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/al5d-arm-rev-2-1/WebHome/mservo01.jpg" alt="" border="2" height="240" hspace="10" ><br>
353 + <font face="Verdana" size="2">Figure 11.</font></td>
354 + </tr>
355 + <tr>
356 + <td colspan="2" align="left" valign="top" ><br class="pb">
357 + </td>
358 + </tr>
359 + <tr>
360 + <td rowspan="2" align="left" valign="top" ><font face="Verdana" size="2"><b>Step 12.</b><br>
361 +Attach the HS-755HB elbow servo to the bracket as shown using the 3mm
362 +hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
363 +secure the bracket to the servo horn. Route the shoulder servo wires
364 +over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
365 +&nbsp;</font>
366 +
367 + <p><font face="Verdana" size="2"><b><br>
368 + </b></font> </p>
369 + <table border="0" >
370 + <tbody>
371 + <tr>
372 + <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
373 + <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
374 + </tr>
375 + <tr>
376 + <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/al5d-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
377 + <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/al5d-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
378 + </tr>
379 + </tbody>
380 + </table>
381 + </td>
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/al5d-arm-rev-2-1/WebHome/al5d07.jpg" border="2" height="240" hspace="10" ><br>
383 +Figure 12.<br>
384 + <br>
385 + <br>
386 +</font></td>
387 + </tr>
388 + <tr>
389 + <td align="center" valign="top" ><font face="Verdana" size="2"><br>
390 + </font></td>
391 + </tr>
392 + <tr>
393 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
394 + </tr>
395 + <tr>
396 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
397 +13.<br>
398 + </b>Attach the Little Gripper connector to the short "C" bracket
399 +using two 2-56 x .250" screws and 2-56 nuts.<br>
400 + <br>
401 + </font></td>
402 + <td style="vertical-align: top; text-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/al5d-arm-rev-2-1/WebHome/al5a11.jpg" border="2" height="240" hspace="10" ><br>
403 +Figure 13.</font></td>
404 + </tr>
405 + <tr>
406 + <td style="vertical-align: top;"><br>
407 + </td>
408 + <td style="vertical-align: top;"><br>
409 + </td>
410 + </tr>
411 + <tr>
412 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 14.<br>
413 + </b>Attach the short "C" bracket to the other Multi-purpose
414 +bracket as shown.</font>
415 + <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/al5d-arm-rev-2-1/WebHome/ballb02.gif" border="2" height="96" hspace="10" ><br>
416 +</font></p>
417 + </td>
418 + <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/al5d-arm-rev-2-1/WebHome/al5a12.jpg" border="2" height="240" hspace="10" ><br>
419 +Figure 14.</font></td>
420 + </tr>
421 + <tr>
422 + <td colspan="2" align="left" valign="top" ><br class="pb">
423 + </td>
424 + </tr>
425 + <tr>
426 + <td valign="top" ><font face="Verdana" size="2"><b>Step
427 +15.<br>
428 + </b>Figure 15 illustrates a typical standard-size servo with its
429 +output horn (the round white part) at center position. Make sure your
430 +servo looks like the image. The arrows in the image point to the screw
431 +holes you will use.</font></td>
432 + <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/al5d-arm-rev-2-1/WebHome/servo02.jpg" border="2" height="240" hspace="10" ><br>
433 + <font face="Verdana" size="2">Figure 15.</font></td>
434 + </tr>
435 + <tr>
436 + <td colspan="2" align="left" valign="top" >&nbsp;</td>
437 + </tr>
438 + <tr>
439 + <td align="left" valign="top" >
440 + <p><font face="Verdana" size="2"><b>Step 16.<br>
441 + </b>Attach the HS-645MG wrist servo to the bracket as shown using
442 +the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
443 +screws to secure the bracket to the servo horn. Route the shoulder
444 +servo wires over the servo.<br>
445 + </font></p>
446 + <table border="0" >
447 + <tbody>
448 + <tr>
449 + <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
450 + <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
451 + </tr>
452 + <tr>
453 + <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/al5d-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
454 + <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/al5d-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
455 + </tr>
456 + <tr>
457 + <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;4
458 +x<br>
459 + </b></font></td>
460 + </tr>
461 + <tr>
462 + <td colspan="2" >
463 + <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/al5d-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" ></font></p>
464 + </td>
465 + </tr>
466 + </tbody>
467 + </table>
468 + </td>
469 + <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/al5d-arm-rev-2-1/WebHome/al5a13.jpg" border="2" height="240" hspace="10" ><br>
470 +Figure 16.</font></td>
471 + </tr>
472 + <tr>
473 + <td colspan="2" align="left" valign="top" ><br class="pb">
474 + </td>
475 + </tr>
476 + <tr>
477 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 17.</b><br>
478 +Add a 6" servo extender cable to the elbow servo. Plug the cable in to
479 +channel 2 on the SSC-32. </font><font face="Verdana" size="2">Note
480 +that the colors should remain the same on both sides of the connection
481 +(yellow to yellow, red to red, black to black).</font></td>
482 + <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/al5d-arm-rev-2-1/WebHome/al5c08a.jpg" border="2" height="240" ><br>
483 +Figure 17.</font></td>
484 + </tr>
485 + <tr>
486 + <td colspan="2" align="left" valign="top" >&nbsp;</td>
487 + </tr>
488 + <tr>
489 + <td rowspan="2" align="left" valign="top" ><font face="Verdana" size="2"><b>Step 18.<br>
490 + </b>Attach the Little Grip to the lexan as shown, using three
491 +4-40 x .375" button head screws and acorn locking nuts. Only three
492 +screws are used (shown in the image) as the body of the gripper servo
493 +is in the way for the fourth.</font>
494 + <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
495 +may be substituted) servo is aligned to mid-position, and the gripper
496 +is halfway open. Now the servo and gripper will be aligned correctly.
497 +Remove the servo screw and horn. Slide the servo into the gripper from
498 +the bottom. You may need to wiggle it, just a little bit, to get it
499 +seated properly.
500 +Use the servo screw to attach the servo. Tighten this down, but then
501 +unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
502 +&nbsp;</font> </p>
503 + <table border="0" >
504 + <tbody>
505 + <tr>
506 + <td ><font face="Verdana" size="2"><b>3 x</b></font></td>
507 + <td ><font face="Verdana" size="2"><b>3 x</b></font></td>
508 + </tr>
509 + <tr>
510 + <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/al5d-arm-rev-2-1/WebHome/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
511 + <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/al5d-arm-rev-2-1/WebHome/440nan.GIF" border="2" height="96" width="160"></b></font></td>
512 + </tr>
513 + </tbody>
514 + </table>
515 + <p><font face="Verdana" size="2"><b>Step 19.</b><br>
516 +Add a 12" and 6" servo extender cable to the gripper servo (18" total),
517 +and a single 12"
518 +extender cable to the wrist servo. Note that the colors should remain
519 +the same on both sides of the connection (yellow to yellow, red to red,
520 +black to black).<br>
521 + </font></p>
522 + </td>
523 + <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/al5d-arm-rev-2-1/WebHome/al5a14.jpg" border="2" height="240" ><br>
524 +Figure 18.<br>
525 +&nbsp;</font></td>
526 + </tr>
527 + <tr>
528 + <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/al5d-arm-rev-2-1/WebHome/al5d08.jpg" border="2" height="240" ><br>
529 +Figure 19.</font></td>
530 + </tr>
531 + <tr>
532 + <td colspan="2" align="left" valign="top" ><br class="pb">
533 + </td>
534 + </tr>
535 + <tr>
536 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 20.<br>
537 + </b>Carefully bend the wrist servo back as far as it will go, and
538 +use wire ties to secure the servo cables as shown. Make sure to leave
539 +slack in the gripper servo cable, don't pull it too tight.</font></td>
540 + <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/al5d-arm-rev-2-1/WebHome/al5d09.jpg" border="2" height="240" ><br>
541 +Figure 20.</font></td>
542 + </tr>
543 + <tr>
544 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
545 + </tr>
546 + <tr>
547 + <td align="left" valign="top" >
548 + <p><font face="Verdana" size="2"><b>Step 21.<br>
549 + </b>Carefully stretch the arm forward as far as it will go, and
550 +use wire ties to secure the servo cables as shown. Make sure to leave
551 +slack in the cables, don't pull them too tight. Plug the servos in
552 +according to Table 21. Once again, take a moment to ensure </font><font face="Verdana" size="2">the colors remain the same on both sides of
553 +the connection (yellow to yellow, red to red, black to black). If not,
554 +there will be issues and the servo in question will not behave
555 +correctly.<br>
556 + </font></p>
557 + <div align="center">
558 + <center>
559 + <table border="1" bordercolor="#ffffff" >
560 + <tbody>
561 + <tr>
562 + <td >
563 + <div align="center">
564 + <table border="1" bordercolor="#000000" >
565 + <tbody>
566 + <tr>
567 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="1"><b>SSC-32
568 +/ 32U&nbsp; Pin<br>
569 + </b></font></td>
570 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="1"><b>Servo
571 +Location</b></font></td>
572 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="1"><b>Servo</b></font></td>
573 + </tr>
574 + <tr>
575 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="1">00</font></td>
576 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">Base</font></td>
577 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">HS-485HB</font></td>
578 + </tr>
579 + <tr>
580 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="1">01</font></td>
581 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">Shoulder</font></td>
582 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">HS-805BB</font></td>
583 + </tr>
584 + <tr>
585 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="1">02</font></td>
586 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">Elbow</font></td>
587 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">HS-755HB</font></td>
588 + </tr>
589 + <tr>
590 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="1">03</font></td>
591 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">Wrist</font></td>
592 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">HS-645MG</font></td>
593 + </tr>
594 + <tr>
595 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="1">04</font></td>
596 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">Gripper</font></td>
597 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">HS-422 /
598 +HS-425 / HS-322</font></td>
599 + </tr>
600 + <tr>
601 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="1">05</font></td>
602 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">Wrist
603 +Rotate (Optional)</font></td>
604 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="1">Not
605 +included in kit</font></td>
606 + </tr>
607 + </tbody>
608 + </table>
609 + </div>
610 + </td>
611 + </tr>
612 + <tr>
613 + <td bordercolor="#FFFFFF">
614 + <p align="center"><font face="Verdana" size="2">Table 21.</font></p>
615 + </td>
616 + </tr>
617 + </tbody>
618 + </table>
619 + </center>
620 + </div>
621 + </td>
622 + <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/al5d-arm-rev-2-1/WebHome/al5d10.jpg" border="2" height="240" ><br>
623 +Figure 21 (SSC-32 shown).</font></td>
624 + </tr>
625 + <tr>
626 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
627 + </tr>
628 + <tr>
629 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
630 +If you have the SSC-32U (USB connector), please proceed with Step 22b.
631 +If you have the SSC-32 (serial connector), we'll use LynxTerm to test
632 +the
633 +servos and confirm that they're all plugged into the proper channels (</font><font face="Verdana" size="2">just as in the Base Assembly Instructions)</font><font face="Verdana" size="2">.
634 +If you have not done so before, download and install <a href="https://www.lynxmotion.com/showproduct.aspx?productID=567&amp;CategoryID=15#downloads" target="_blank">LynxTerm v1.08</a> or higher. Connect the SSC-32 to
635 +the serial port and apply power. The green LED should light up and stay
636 +on
637 +until it receives a valid serial command. Run the LynxTerm program. If
638 +LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
639 +and USB-to-serial troubleshooting guide</a>.<br>
640 + <br>
641 + </font><font face="Verdana" size="2">Now test the servos and
642 +connections by selecting a channel, and moving
643 +the servo carefully using the slider bar. Verify that the servos are
644 +plugged into the channels as listed in Table 21. Easy does it; this is
645 +real time control, so be careful! Select channels 0 through 4 one at a
646 +time and test that each works.</font><br>
647 + <p><font face="Verdana" size="2"><b><br>
648 + </b></font></p>
649 + </td>
650 + <td style="width: 50%; vertical-align: top; text-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/al5d-arm-rev-2-1/WebHome/lterm01.jpg" border="2" height="243" hspace="10" ></font>&nbsp; <font face="Verdana" size="2">Figure 22a (Lynxterm).</font></td>
651 + </tr>
652 + <tr>
653 + <td colspan="2" align="left" valign="top" ><br class="pb">
654 + </td>
655 + </tr>
656 + <tr>
657 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
658 +22b (SSC-32U / Servo Utility).<br>
659 + </b>Just like in the base instructions, we will use the SSC-32
660 +Servo
661 +Sequencer Utility to test the servos and confirm they are all plugged
662 +into their proper servo channels and oriented correctly. If not done so
663 +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
664 +cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
665 +the program.<br>
666 + <br>
667 +The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
668 +towards the bottom right of the window is set to 9600 (not 115200). The
669 +software should automatically detect which COM port is connected to the
670 +SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
671 +(USB to serial) drivers</a> automatically.<br>
672 + <br>
673 + </font><font face="Verdana" size="2">Ensure Servos 0 4 are
674 +checked off in the software (and therefore accessible). </font><font face="Verdana" size="2">You can now move the sliders to see each servo
675 +rotate. </font><font face="Verdana" size="2">Verify that the servos
676 +are
677 +plugged into the channels as listed in Table 21. Easy does it; this is
678 +real time control, so be careful.<br>
679 + <br>
680 +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><br>
681 + <br>
682 + <br>
683 + </td>
684 + <td style="text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/RB-Dsp-07.jpg" border="2" height="240" hspace="10" ><br>
685 + <font face="Verdana" size="2">Figure 22b (SSC-32 Utility).</font><br>
686 + </td>
687 + </tr>
688 + <tr>
689 + <td style="vertical-align: top;"><br>
690 + </td>
691 + <td style="vertical-align: top;"><br>
692 + </td>
693 + </tr>
694 + <tr>
695 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 23a (SSC-32 / Lynxterm).</b><br>
696 +Click on the "All = 1500" button in LynxTerm. This will command the
697 +servos to hold center position. Your arm should look like Figure 24. If
698 +any joint is off by more than 15°, then you may have made an error in
699 +assembly.<br>
700 + <br>
701 + </font><font face="Verdana" size="2">If you did not purchase RIOS
702 +software, please proceed to step 28.</font><br>
703 + <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/al5d-arm-rev-2-1/WebHome/lterm02.jpg" border="2" height="120" hspace="10" ></font></p>
704 + </td>
705 + <td style="text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d24.jpg" border="2" height="240" hspace="10" ><br>
706 + <font face="Verdana" size="2">Figure 23</font>.<br>
707 + </td>
708 + </tr>
709 + <tr>
710 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
711 + </tr>
712 + <tr>
713 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
714 +23b (SSC-32U / Servo Utility).</b><br>
715 +Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
716 +A knob next to each servo will appear (figure 23b). This knob is used
717 +to fine tune the servo's center position. The knob is not intended to
718 +be rotated: click the knob you wish to rotate, keeping the mouse button
719 +down, and drag up and down to rotate the knob. Do this for each servo
720 +until the arm looks like figure 23, and angles are 90 and 180 degrees.
721 +If
722 +any joint is off by more than 15°, then you may have made an error in
723 +assembly.<br>
724 + <br>
725 + </font><font face="Verdana" size="2">Once
726 +all servos have been
727 +properly positioned, click the "calibrate" button again to exit
728 +calibration mode. The offsets will automatically be saved on the SSC-32
729 +/ SSC-32U.</font><br>
730 + <font face="Verdana" size="2"><br>
731 +If you did not purchase the RIOS software, please proceed to step 28.<br>
732 + </font></td>
733 + <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/al5d-arm-rev-2-1/WebHome/ssc-32-utility-calibrate.jpg" border="2"><br>
734 + <font face="Verdana" size="2">
735 +Figure 23b (SSC-32 Utilty).</font><br>
736 + </td>
737 + </tr>
738 + <tr>
739 + <td style="vertical-align: top;"><br>
740 + </td>
741 + <td style="vertical-align: top;"><br>
742 + </td>
743 + </tr>
744 + <tr>
745 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).<br>
746 + </b></font><font face="Verdana" size="2">Should you have purchase
747 +RIOS, or a version of the arm which includes RIOS, please follow the
748 +next steps. </font><font face="Verdana" size="2">To use the RIOS Arm
749 +control software, you need to make one
750 +minor modification. Remove the servo horn screw from the elbow servo.
751 +Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
752 +the elbow and reattach the servo horn and screw. Note, the Hitec spline
753 +has 24 grooves, so each groove is 15°.</font></td>
754 + <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/al5d-arm-rev-2-1/WebHome/al5d11.jpg" border="2" height="240" ><br>
755 +Figure 24.</font></td>
756 + </tr>
757 + <tr>
758 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
759 + </tr>
760 + <tr>
761 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 25</b></font><font face="Verdana" size="2"><b> (RIOS
762 +Users Only).</b></font><font face="Verdana" size="2"><br>
763 +At this point the arm is assembled and tested using LynxTerm. Now we
764 +need to install RIOS and calibrate the arm to the software. Use the
765 +RIOS Help File to calibrate and use the arm.</font>
766 + <p><font face="Verdana" size="2">Install RIOS, following the
767 +on-screen installation prompts. The serial number is on the back of the
768 +CD sleeve.</font></p>
769 + <p><font face="Verdana" size="2">Use the RIOS Help File to
770 +calibrate and use the arm, following Steps 1-7. When you get to Step 8
771 +in the help file, please use the following instructions instead.</font></p>
772 + <p><font face="Verdana" size="2">Please take the time to do an
773 +accurate calibration. The performance of the arm will only be as good
774 +as the calibration. If the on screen virtual arm does not match the
775 +real arm this is a sign of an inaccurate calibration. After calibration
776 +please study the RIOS manual carefully to learn how to store and
777 +playback sequences for the arm.</font></p>
778 + </td>
779 + <td align="left" valign="top" >
780 + <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/al5d-arm-rev-2-1/WebHome/rios03.jpg" border="2" height="240" hspace="10" ></font><br>
781 + <font face="Verdana" size="2">Figure 25 (RIOS).</font></p>
782 + </td>
783 + </tr>
784 + <tr>
785 + <td colspan="2" align="left" valign="top" ><br class="pb">
786 + </td>
787 + </tr>
788 + <tr>
789 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 26</b></font><font face="Verdana" size="2"><b> (RIOS
790 +Users Only).</b></font><font face="Verdana" size="2"><br>
791 +To calibrate the arm's Shoulder servo, click the "SSC-32" button.</font></td>
792 + <td align="left" valign="top" >
793 + <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/al5d-arm-rev-2-1/WebHome/rios04.jpg" border="2" height="240" hspace="10" ></font><br>
794 + <font face="Verdana" size="2">Figure 26 (RIOS).</font></p>
795 + </td>
796 + </tr>
797 + <tr>
798 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
799 + </tr>
800 + <tr>
801 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 27</b></font><font face="Verdana" size="2"><b> (RIOS
802 +Users Only).</b></font><font face="Verdana" size="2"><br>
803 +Start the servo configuration with the Shoulder, servo #2. Move the
804 +shoulder slider up to move the shoulder forward so that it looks like
805 +Figure 28-2. Set the Min Deg angle -45°. Right click on the slider to
806 +set this as the Min Position. Now the servo will not go past this
807 +value, and the program now knows this value is exactly 45° from
808 +centered.</font>
809 + <p><font face="Verdana" size="2">Now move the slider down to move
810 +the shoulder backward so that it looks like Figure 28-3. Set the Max
811 +Deg angle to 45°. Right click on the slider to set this as the Max
812 +Position. Now the servo will not go past this value, and the program
813 +now knows this value is exactly 45° from centered.</font></p>
814 + <p><font face="Verdana" size="2">The next step is to read and
815 +study the RIOS users guide. It is accessible by clicking on the help
816 +icon on the main screen or by navigating to the install directory
817 +(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
818 +manual explains in great detail how to use the arm.</font></p>
819 + </td>
820 + <td align="left" valign="top" >
821 + <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/al5d-arm-rev-2-1/WebHome/rios01.jpg" border="2" height="240" hspace="10" width="321"><br>
822 +Figure 27-1 (RIOS).</font></p>
823 + </td>
824 + </tr>
825 + <tr>
826 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
827 + </tr>
828 + <tr>
829 + <td align="left" valign="top" >
830 + <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/al5d-arm-rev-2-1/WebHome/al5_452.jpg" border="2" height="240" hspace="10" ><br>
831 +Figure 27-2.</font></p>
832 + </td>
833 + <td align="left" valign="top" >
834 + <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/al5d-arm-rev-2-1/WebHome/al5_45.jpg" border="2" height="240" hspace="10" ><br>
835 +Figure 27-3.</font></p>
836 + </td>
837 + </tr>
838 + <tr>
839 + <td colspan="2" align="left" valign="top" ><br class="pb">
840 + </td>
841 + </tr>
842 + <tr>
843 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 28.<br>
844 + </b>To connect springs for load-balancing, replace the servo
845 +attachment hardware in the locations shown, following the diagrams
846 +below. Hook the springs together after they're secured.<br>
847 + <br>
848 + <br>
849 + </font>
850 + <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/spr03.gif" border="2" height="96" ></p>
851 + <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/spr02.gif" border="2" height="96" ></p>
852 + </td>
853 + <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/al5d-arm-rev-2-1/WebHome/al5d29.jpg" border="2" height="240" ><br>
854 +Figure 28.</font></td>
855 + </tr>
856 + <tr>
857 + <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
858 + </tr>
859 + <tr>
860 + <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 29.<br>
861 + </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
862 +but the servos can be damaged by improper use. An example would be if
863 +the arm was told to move to an unobtainable position, like the surface
864 +the arm is mounted to, or by crashing into itself or other
865 +objects. The elbow servo is the most vulnerable because it holds the
866 +entire weight of the forearm. As indicated in step 28, load balancing
867 +springs should be added to
868 +reduce some of this load.<br>
869 + <br>
870 + </font><font face="Verdana" size="2">If you purchased FlowBotics
871 +Studio,
872 +FlowStone or FlowArm, you can proceed with the instruction guide(s)
873 +associated with those programs.</font><br>
874 + <p><font color="#ff0000" face="Verdana" size="2"><b> People do
875 +not like holding heavy objects with their arms outstretched in front of
876 +them. Servo based robot arms don't like it much either. Remember, the
877 +most important rule for servo based robot arms: Park the arm when not
878 +in motion! When it's moving or at rest it's usually ok. When it's
879 +holding an object it should do so for the minimum amount of time
880 +required to do the job. You can always touch the servo case to see if
881 +it's getting hot.</b> </font> </p>
882 + </td>
883 + <td align="center" valign="top" ><font face="Verdana" size="2"><br>
884 + </font></td>
885 + <td><br>
886 + </td>
887 + </tr>
888 + </tbody>
889 +</table>
890 +
891 +</body>
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