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1 1  {{html wiki="false" clean="true"}}
2 -<table style="width: 100%;" border="0" cellpadding="0" cellspacing="0">
3 3  
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" 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/al5d-arm-rev-2-1/WebHome/al5d00.jpg" border="2" height="240" hspace="10" width="320"><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" width="320"></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" width="320"><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" width="320"></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" width="320"><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" width="320"><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" width="320"><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" width="320"></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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"></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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320"><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" width="320">
560 - <tbody>
561 - <tr>
562 - <td >
563 - <div align="center">
564 - <table border="1" bordercolor="#000000" width="320">
565 - <tbody>
566 - <tr>
567 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><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" width="75%"><font face="Verdana" size="1"><b>Servo
571 -Location</b></font></td>
572 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
573 - </tr>
574 - <tr>
575 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
576 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
577 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">HS-485HB</font></td>
578 - </tr>
579 - <tr>
580 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
581 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
582 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">HS-805BB</font></td>
583 - </tr>
584 - <tr>
585 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
586 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
587 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">HS-755HB</font></td>
588 - </tr>
589 - <tr>
590 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
591 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
592 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">HS-645MG</font></td>
593 - </tr>
594 - <tr>
595 - <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
596 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
597 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><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" width="25%"><font face="Verdana" size="1">05</font></td>
602 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
603 -Rotate (Optional)</font></td>
604 - <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><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" width="320"><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" width="320"></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" width="320"><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" width="320"></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" width="320"><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" width="320"><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" width="320"></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" width="320"></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" width="320"><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" width="320"><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" width="320"></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" width="320"></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" width="320"><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>
892 892  {{/html}}
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