Changes for page AL5D Arm Assembly Instructions Rev. 2.1

Last modified by Eric Nantel on 2026/04/06 10:46

From version < 59.2 >

edited by Eric Nantel
on 2024/07/03 09:21

To version < 60.1

edited by Eric Nantel
on 2026/04/06 10:46

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--  <tbody>
--    <tr>
--      <td align="left" valign="top" ><b><font face="Verdana" size="2">AL5D Arm Assembly Instructions Rev. 2.1.</font></b>
--      <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
--      </font></b></p>
--      <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
--protection and never touch a powered robot!</font></p>
--      <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5D
--arm with either
--the SSC-32 or the SSC-32U servo controller. Take note of which version
--you have
--and follow each step accordingly, as the connections and configuration
--are different. Calibration of the arm is done using one of the
--following software:</span></strong></font></p>
--      <ul>
--        <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
--          <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
--        <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of
--a kit)</span></font></li>
--        <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
--      </ul>
--      <p><font face="Verdana" size="2">Note: Loctite / thread lock
--can be used on the construction of the aluminum components, though it
--is not necessary if the nuts are properly tightened. However,
--don't use them with Lexan or plastic, as they are not necessary and may
--cause
--damage.</font></p>
--      </td>
--      <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" ><br>
--      <b>Image of complete arm (SSC-32 shown).</b></font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Lexan Preparation.<br>
--      </b>The lexan pieces have a protective covering that needs to be
--removed before assembly. When the laser cuts, the covering melts into
--the cut edge which can make removal difficult. If you gently scrape the
--cut edge with a flat blade screwdriver, the covering can easily be
--lifted and peeled off.</font>
--      <p><font face="Verdana" size="2">On smaller pieces the coverings
--can be more difficult to remove. If you have trouble you can gently
--scrape the cut edge, then use duct tape to lift the covering off.</font></p>
--      <p><font face="Verdana" size="2">For further information on
--lexan, see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" target="_blank">this
--page</a>.</font></p>
--      </td>
--      <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>
--      <font face="Verdana" size="2">Lexan Preparation.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 1.</b><br>
--Connect the a large "C" bracket and an 805 "C" bracket together as
--shown. The 805 bracket is identified by its larger size and circlular
--extrusion. Use two 2-56 x 1/4" screws and 2-56 nuts.</font> </p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
--            <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <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>
--          </tr>
--        </tbody>
++<div class="asm">
++
++  <!-- Header -->
++  <div style="padding: 0.5rem 0 1rem 0; display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;">
++    <div style="flex:1 1 300px;">
++      <h1 class="asm">AL5D Arm Assembly Instructions Rev. 2.1</h1>
++      <p><b>Updated December 2014</b></p>
++      <p><span class="asm-warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>
++      <p>This guide shows how to assemble the AL5D arm with either the SSC-32 or the SSC-32U servo controller. Calibration can be done using: SSC-32 Servo Sequencer Utility · RIOS (purchased separately or as part of a kit) · Lynxterm (legacy software)</p>
++      <p>Note: Loctite / thread lock can be used on aluminum components, though not necessary if nuts are properly tightened. Do not use on Lexan or plastic.</p>
++    </div>
++    <div style="text-align:center; flex:0 1 280px;">
++      <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" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
++      <p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Complete arm (SSC-32 shown).</b></p>
++    </div>
++  </div>
++
++  <!-- Lexan Prep -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Lexan Preparation</div>
++      <div class="asm-step-num">&nbsp;</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>The Lexan pieces have a protective covering that must be removed before assembly. The laser cut melts the covering into the cut edge. Gently scrape the cut edge with a flat blade screwdriver to lift and peel off. On smaller pieces, use duct tape after scraping. For further information see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" target="_blank">this page</a>.</p>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Lexan Preparation.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 1 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Base Bracket Assembly</div>
++      <div class="asm-step-num">Step 1 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Connect the large "C" bracket and the 805 "C" bracket together as shown. The 805 bracket is identified by its larger size and circular extrusion. Use two 2-56 x 1/4" screws and 2-56 nuts.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 1.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 2 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Mechanical Dampening Panels</div>
++      <div class="asm-step-num">Step 2 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Install the mechanical dampening panels as shown using four 2-56 x 1/4" machine screws. Add the discs to the correct side and ensure the Lexan protective covering has been removed. Press down when screwing to ensure no gap between Lexan and aluminum.</p>
++        <div style="margin-top:0.75rem;">
++          <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" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 2.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 3 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Shoulder Pivot Screw</div>
++      <div class="asm-step-num">Step 3 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Insert the 4-40 x .5" Phillips head screw through the hole in the multi-purpose bracket as shown. Secure with a steel nut.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 x .500" Phillips screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 steel nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 3.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 4 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Shoulder Dampener Lock Nut</div>
++      <div class="asm-step-num">Step 4 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Slide the large "C" bracket end over the screw and secure with a nylon insert lock nut. Start loose — tighten only if the arm wobbles. <span class="asm-warning">Caution: do not over-tighten! If dampeners are too tight the servo WILL heat up and CAN be damaged!</span></p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 nylon insert lock nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 4.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 5 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Install Shoulder Servo</div>
++      <div class="asm-step-num">Step 5 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Attach the <b>HS-805BB</b> servo to the base bracket using the 3mm hardware per the diagram below. Use two #4 x 3/8" tapping screws to secure the bracket to the servo horn. Route wires underneath the servo. Plug into channel 1 on the SSC-32. Rotate to an extreme and use a wire tie to take up cable slack.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">#4 x .375" tapping screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Hole position reference</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Bracket mounting diagram</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 5.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 6 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Forearm Tubing Hubs</div>
++      <div class="asm-step-num">Step 6 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Attach two tubing connector hubs to the short side of the "L" brackets using four 2-56 x .250 screws and 2-56 nuts (two each). Orientation is important — the hole in the tube should be as shown so the tube lines up as in Figure 7.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">4x (2 each)</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">4x (2 each)</div><div class="asm-part-name">2-56 nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 6.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 7 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Connect Forearm Tube</div>
++      <div class="asm-step-num">Step 7 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Connect the hubs to the <b>4.50" tube</b> using two 4-40 x .250" screws. Tighten firmly.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 7.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 8 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Attach Multi-Purpose Brackets</div>
++      <div class="asm-step-num">Step 8 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Attach one end of the tubing structure to a Standard Multi-Purpose bracket and the other end to a <b>Large</b> Multi-Purpose bracket as shown, using four 2-56 x .250 screws and 2-56 nuts (two each).</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">4x (2 each)</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">4x (2 each)</div><div class="asm-part-name">2-56 nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 8.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 9 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Elbow Pivot Screw</div>
++      <div class="asm-step-num">Step 9 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Insert the 4-40 x .5" Phillips head screw through the hole in the <b>large</b> multi-purpose bracket in the location shown. Secure with a steel nut.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 steel nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 x .500" Phillips screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 9.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 10 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Elbow Dampener Lock Nut</div>
++      <div class="asm-step-num">Step 10 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Slide the screw through the dampening discs and secure with a nylon insert lock nut. Start loose — tighten only if the arm wobbles. <span class="asm-warning">Caution: do not over-tighten! If dampeners are too tight the servo WILL heat up and CAN be damaged!</span></p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 nylon insert lock nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 10.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 11 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Prepare Elbow Servo Horn</div>
++      <div class="asm-step-num">Step 11 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Replace the black servo horn on the HS-755HB mega servo with the round nylon servo horn. Remove the screw without rotating the horn, pull it off, press the nylon horn in place as shown, and replace the screw. The arrows point to the screw holes you will use.</p>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 11.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 12 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Install Elbow Servo</div>
++      <div class="asm-step-num">Step 12 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Attach the <b>HS-755HB</b> elbow servo to the bracket using the 3mm hardware per the diagram below. Use two #2 x 1/4" tapping screws to secure the bracket to the servo horn. Route wires over the servo. Plug into channel 2 on the SSC-32.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 12.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 13 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Attach Gripper Connector</div>
++      <div class="asm-step-num">Step 13 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Attach the Little Gripper connector to the short "C" bracket using two 2-56 x .250" screws and 2-56 nuts.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 13.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 14 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Wrist Ball Bearing</div>
++      <div class="asm-step-num">Step 14 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Attach the short "C" bracket to the other Multi-Purpose bracket as shown. Refer to the diagram below for detailed ball bearing installation.</p>
++        <div style="margin-top:0.75rem; 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/ballb02.gif" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 14.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 15 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Verify Wrist Servo Horn Position</div>
++      <div class="asm-step-num">Step 15 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Verify that your standard-size servo output horn is at center position as shown. The arrows point to the screw holes you will use.</p>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 15.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 16 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Install Wrist Servo</div>
++      <div class="asm-step-num">Step 16 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Attach the <b>HS-645MG</b> wrist servo to the bracket using the 3mm hardware per the diagram below. Use two #2 x 1/4" tapping screws to secure the bracket to the servo horn. Route wires over the servo.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Hole position reference</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Bracket mounting diagram</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 16.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 17 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Elbow Servo Extender Cable</div>
++      <div class="asm-step-num">Step 17 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Add a <b>6" servo extender cable</b> to the elbow servo. Plug into channel 2 on the SSC-32. Ensure colors remain the same on both sides (yellow to yellow, red to red, black to black).</p>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 17.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Steps 18 & 19 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Install Gripper &amp; Extend Servo Cables</div>
++      <div class="asm-step-num">Steps 18–19 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p><b>Step 18:</b> Attach the Little Grip to the Lexan using three 4-40 x .375" button head screws and acorn locking nuts (three only — the gripper servo body blocks the fourth). Align the HS-422 servo to mid-position with the gripper halfway open. Remove the servo screw and horn, slide the servo in from the bottom, reseat, and replace the screw. Tighten then unscrew half a turn — too much friction can bind the servo.</p>
++        <p><b>Step 19:</b> Add a <b>12" + 6" extender</b> (18" total) to the gripper servo, and a <b>12" extender</b> to the wrist servo. Ensure colors match on both sides of all connections.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">3x (NOT four)</div><div class="asm-part-name">4-40 x .375" button head screw</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">3x (NOT four)</div><div class="asm-part-name">4-40 acorn locking nut</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-figures">
++        <div class="asm-step-figure">
++          <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">
++          <span>Figure 18.</span>
++        </div>
++        <div class="asm-step-figure">
++          <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">
++          <span>Figure 19.</span>
++        </div>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 20 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Route Wrist Cables</div>
++      <div class="asm-step-num">Step 20 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Carefully bend the wrist servo back as far as it will go and use wire ties to secure the cables as shown. Leave slack in the gripper cable — do not pull too tight.</p>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 20.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 21 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Route Arm Cables &amp; Plug In Servos</div>
++      <div class="asm-step-num">Step 21 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>Carefully stretch the arm forward as far as it will go and use wire ties to secure all cables. Leave slack — do not pull too tight. Plug the servos into the SSC-32 per Table 21. Ensure colors match on both sides of all connections.</p>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 21 (SSC-32 shown).</span>
++      </div>
++    </div>
++    <div class="asm-fullwidth">
++      <p style="font-weight:bold; margin-bottom:0.4rem;">SSC-32 / 32U Servo Channel Assignments (Table 21)</p>
++      <table class="ref-table" style="width:auto;">
++        <tr><th>Pin</th><th>Servo Location</th><th>Servo</th></tr>
++        <tr><td>00</td><td>Base</td><td>HS-485HB</td></tr>
++        <tr><td>01</td><td>Shoulder</td><td>HS-805BB</td></tr>
++        <tr><td>02</td><td>Elbow</td><td>HS-755HB</td></tr>
++        <tr><td>03</td><td>Wrist</td><td>HS-645MG</td></tr>
++        <tr><td>04</td><td>Gripper</td><td>HS-422 / HS-425 / HS-322</td></tr>
++        <tr><td>05</td><td>Wrist Rotate (optional)</td><td>Not included in kit</td></tr>
        </table>
--      </td>
--      <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>
--Figure 1.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 2.<br>
--      </b>Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
--machine screws. Be sure to add the discs to the correct side and </font><font face="Verdana" size="2">ensure the protective covering has been
--removed from the Lexan parts.</font><font face="Verdana" size="2">
--Press down when screwing to ensure there is no gap between the Lexan
--and the aluminum, as the screw will be threading the Lexan.&nbsp; </font>
--      <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>
--      </td>
--      <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>
--Figure 2.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 3. <br>
--      </b> </font> <font face="Verdana" size="2">Insert the 4-40 x
--.5" Phillips head screw through the hole in the multi-purpose bracket
--as shown. Secure with a steel nut.</font></p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
--            <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <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>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 3.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 4.<br>
--      </b>Slide the large "C" bracket end of the bracket assembly over
--the screw as shown, and secure with a nylon insert lock nut. The amount
--of friction can be adjusted by tightening or loosening the lock nut.
--Start with the nut loose, and if the arm seems to wobble a bit, you can
--tighten this joint to correct the wobble. <b><font color="#ff0000"><br>
--      </font></b></font></p>
--      <p><font face="Verdana" size="2"><b><font color="#ff0000">Caution
--- don't over-tighten this! If the arm is operated with the mechanical
--dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font></p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
--            <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 4.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 5.<br>
--      </b>Attach the HS-805BB servo to the base bracket as shown using
--the 3mm hardware; follow the diagram below. Use two #4 x 3/8" tapping
--screws to secure the bracket to the servo horn. Route the shoulder
--servo wires underneath the servo. Plug the servo into channel 1 on the
--SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
--take up the slack in the servo cable.</font></p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
--            <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <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>
--          </tr>
--          <tr>
--            <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;4
--x<br>
--            </b></font></td>
--          </tr>
--          <tr>
--            <td colspan="2" >
--            <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>
--            </td>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 5.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 6.<br>
--      </b>Attach
--two of the tubing connector hubs to the short side of
--the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.
--Orientation is important; the hole in the tube should be as shown, so
--the tube lines up as in figure 7.<br>
--      </font></p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>4 x (two
--each)<br>
--            </b></font></td>
--            <td ><font face="Verdana" size="2"><b>4 x (two
--each)<br>
--            </b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <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>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 6.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 7.<br>
--      </b>Connect the hubs to the 4.50" tube using two 4-40 x .250"
--screws. Tighten these down tightly.</font></p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
--            <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <td ><font face="Verdana" size="2">&nbsp;</font></td>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 7.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 8.<br>
--      </b>Attach one end of the tubing structure to a Standard
--Multi-Purpose bracket and
--the other end to a Large Multi-Purpose bracket as shown in the image,
--using four 2-56 x
--.250 screws and 2-56 nuts.</font></p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>4 x (two
--each)<br>
--            </b></font></td>
--            <td ><font face="Verdana" size="2"><b>4 x (two
--each)<br>
--            </b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <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>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 8.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 9.</b><br>
--Insert the 4-40 x .5" Phillips head screw through the hole in the large
--multi-purpose bracket in the location shown. Secure with a steel nut.</font></p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
--            <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <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>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 9.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 10.<br>
--      </b>Slide the screw on the forearm assembly through the dampening
--discs as shown, and secure with a nylon insert lock nut. The amount of
--friction can be adjusted by tightening or loosening the lock nut. Start
--with the nut loose, and if the arm seems to wobble a bit, you can
--tighten this joint to correct the wobble. <br>
--      </font></p>
--      <p><font face="Verdana" size="2"><b><font color="#ff0000">Caution
--- don't over-tighten this! If the arm is operated with the mechanical
--dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font>
--      </p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
--            <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 10.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top"><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td valign="top"><font face="Verdana" size="2"><b>Step 11.<br>
--      </b>Figure 5 show a typical mega-size servo with its default
--servo horn at center position. You will need to replace this black
--servo horn with the round nylon servo horn.</font>
--      <p><font face="Verdana" size="2">Remove the servo horn screw,
--being careful to not rotate the servo horn itself. Pull the servo horn
--off, then press the nylon servo horn in place, as close to the
--alignment shown as possible. Replace the servo horn screw.</font></p>
--      <p><font face="Verdana" size="2">Make sure your servo looks like
--the image. The arrows in the image point to the screw holes you will
--use.</font></p>
--      </td>
--      <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>
--      <font face="Verdana" size="2">Figure 11.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td rowspan="2" align="left" valign="top" ><font face="Verdana" size="2"><b>Step 12.</b><br>
--Attach the HS-755HB elbow servo to the bracket as shown using the 3mm
--hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
--secure the bracket to the servo horn. Route the shoulder servo wires
--over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
--&nbsp;</font>
--
--      <p><font face="Verdana" size="2"><b><br>
--      </b></font> </p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
--            <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <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>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 12.<br>
--      <br>
--      <br>
--</font></td>
--    </tr>
--    <tr>
--      <td align="center" valign="top" ><font face="Verdana" size="2"><br>
--      </font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
--13.<br>
--      </b>Attach the Little Gripper connector to the short "C" bracket
--using two 2-56 x .250" screws and 2-56 nuts.<br>
--      <br>
--      </font></td>
--      <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>
--Figure 13.</font></td>
--    </tr>
--    <tr>
--      <td style="vertical-align: top;"><br>
--      </td>
--      <td style="vertical-align: top;"><br>
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 14.<br>
--      </b>Attach the short "C" bracket to the other Multi-purpose
--bracket as shown.</font>
--      <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>
--</font></p>
--      </td>
--      <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>
--Figure 14.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td valign="top" ><font face="Verdana" size="2"><b>Step
--15.<br>
--      </b>Figure 15 illustrates a typical standard-size servo with its
--output horn (the round white part) at center position. Make sure your
--servo looks like the image. The arrows in the image point to the screw
--holes you will use.</font></td>
--      <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>
--      <font face="Verdana" size="2">Figure 15.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" >&nbsp;</td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 16.<br>
--      </b>Attach the HS-645MG wrist servo to the bracket as shown using
--the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
--screws to secure the bracket to the servo horn. Route the shoulder
--servo wires over the servo.<br>
--      </font></p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
--            <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <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>
--          </tr>
--          <tr>
--            <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;4
--x<br>
--            </b></font></td>
--          </tr>
--          <tr>
--            <td colspan="2" >
--            <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>
--            </td>
--          </tr>
--        </tbody>
--      </table>
--      </td>
--      <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>
--Figure 16.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 17.</b><br>
--Add a 6" servo extender cable to the elbow servo. Plug the cable in to
--channel 2 on the SSC-32. </font><font face="Verdana" size="2">Note
--that the colors should remain the same on both sides of the connection
--(yellow to yellow, red to red, black to black).</font></td>
--      <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>
--Figure 17.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" >&nbsp;</td>
--    </tr>
--    <tr>
--      <td rowspan="2" align="left" valign="top" ><font face="Verdana" size="2"><b>Step 18.<br>
--      </b>Attach the Little Grip to the lexan as shown, using three
--4-40 x .375" button head screws and acorn locking nuts. Only three
--screws are used (shown in the image) as the body of the gripper servo
--is in the way for the fourth.</font>
--      <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
--may be substituted) servo is aligned to mid-position, and the gripper
--is halfway open. Now the servo and gripper will be aligned correctly.
--Remove the servo screw and horn. Slide the servo into the gripper from
--the bottom. You may need to wiggle it, just a little bit, to get it
--seated properly.
--Use the servo screw to attach the servo. Tighten this down, but then
--unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
--&nbsp;</font> </p>
--      <table border="0" >
--        <tbody>
--          <tr>
--            <td ><font face="Verdana" size="2"><b>3 x</b></font></td>
--            <td ><font face="Verdana" size="2"><b>3 x</b></font></td>
--          </tr>
--          <tr>
--            <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>
--            <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>
--          </tr>
--        </tbody>
--      </table>
--      <p><font face="Verdana" size="2"><b>Step 19.</b><br>
--Add a 12" and 6" servo extender cable to the gripper servo (18" total),
--and a single 12"
--extender cable to the wrist servo. Note that the colors should remain
--the same on both sides of the connection (yellow to yellow, red to red,
--black to black).<br>
--      </font></p>
--      </td>
--      <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>
--Figure 18.<br>
--&nbsp;</font></td>
--    </tr>
--    <tr>
--      <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>
--Figure 19.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 20.<br>
--      </b>Carefully bend the wrist servo back as far as it will go, and
--use wire ties to secure the servo cables as shown. Make sure to leave
--slack in the gripper servo cable, don't pull it too tight.</font></td>
--      <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>
--Figure 20.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <p><font face="Verdana" size="2"><b>Step 21.<br>
--      </b>Carefully stretch the arm forward as far as it will go, and
--use wire ties to secure the servo cables as shown. Make sure to leave
--slack in the cables, don't pull them too tight. Plug the servos in
--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
--the connection (yellow to yellow, red to red, black to black). If not,
--there will be issues and the servo in question will not behave
--correctly.<br>
--      </font></p>
--      <div align="center">
--      <center>
--      <table border="1" bordercolor="#ffffff" >
--        <tbody>
--          <tr>
--            <td >
--            <div align="center">
--            <table border="1" bordercolor="#000000" >
--              <tbody>
--                <tr>
--                  <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2"><b>SSC-32
--/ 32U&nbsp; Pin<br>
--                  </b></font></td>
--                  <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2"><b>Servo
--Location</b></font></td>
--                  <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2"><b>Servo</b></font></td>
--                </tr>
--                <tr>
--                  <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">00</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Base</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-485HB</font></td>
--                </tr>
--                <tr>
--                  <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">01</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Shoulder</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-805BB</font></td>
--                </tr>
--                <tr>
--                  <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">02</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Elbow</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-755HB</font></td>
--                </tr>
--                <tr>
--                  <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">03</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Wrist</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-645MG</font></td>
--                </tr>
--                <tr>
--                  <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">04</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Gripper</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-422 /
--HS-425 / HS-322</font></td>
--                </tr>
--                <tr>
--                  <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">05</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Wrist
--Rotate (Optional)</font></td>
--                  <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Not
--included in kit</font></td>
--                </tr>
--              </tbody>
--            </table>
--            </div>
--            </td>
--          </tr>
--          <tr>
--            <td bordercolor="#FFFFFF">
--            <p align="center"><font face="Verdana" size="2">Table 21.</font></p>
--            </td>
--          </tr>
--        </tbody>
--      </table>
--      </center>
++    </div>
++  </div>
++
++  <!-- Steps 22a / 22b -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Test Servos</div>
++      <div class="asm-step-num">Steps 22a–22b / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p><span class="asm-optional">SSC-32 (Serial) — Step 22a</span><br>
++        Download and install <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. Connect the SSC-32 to the serial port and apply power. The green LED should light up. Run LynxTerm. Consult the <a href="https://community.robotshop.com/forum/t/serial-usb-to-serial-port-troubleshooting/17938" target="_blank">serial troubleshooting guide</a> if needed. Select channels 0–4 one at a time and test each carefully.</p>
++        <p><span class="asm-optional">SSC-32U (USB) — Step 22b</span><br>
++        Download and install the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/ssc-32-sequencer/" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect USB and power the board. Set baud rate to 9600. The software auto-detects the COM port with <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI drivers</a>. Ensure servos 0–4 are checked, then use sliders to test each servo. See the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-software/ssc-32-sequencer/WebHome/SSC32%20Servo%20Sequencer.pdf" target="_blank">SSC-32 Servo Sequencer manual</a> for more information.</p>
        </div>
--      </td>
--      <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>
--Figure 21 (SSC-32 shown).</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
--If you have the SSC-32U (USB connector), please proceed with Step 22b.
--If you have the SSC-32 (serial connector), we'll use LynxTerm to test
--the
--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">.
--If you have not done so before, download and install <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. Connect the SSC-32 to
--the serial port and apply power. The green LED should light up and stay
--on
--until it receives a valid serial command. Run the LynxTerm program. If
--LynxTerm cannot connect, please consult the <a href="https://community.robotshop.com/forum/t/serial-usb-to-serial-port-troubleshooting/17938" target="_blank">serial
--and USB-to-serial troubleshooting guide</a>.<br>
--      <br>
--      </font><font face="Verdana" size="2">Now test the servos and
--connections by selecting a channel, and moving
--the servo carefully using the slider bar. Verify that the servos are
--plugged into the channels as listed in Table 21. Easy does it; this is
--real time control, so be careful! Select channels 0 through 4 one at a
--time and test that each works.</font><br>
--      <p><font face="Verdana" size="2"><b><br>
--      </b></font></p>
--      </td>
--      <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/lterm01.jpg" border="2" height="243" hspace="10" ></font>&nbsp; <font face="Verdana" size="2">Figure 22a (Lynxterm).</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
--22b (SSC-32U / Servo Utility).<br>
--      </b>Just like in the base instructions, we will use the SSC-32
--Servo
--Sequencer Utility to test the servos and confirm they are all plugged
--into their proper servo channels and oriented correctly. If not done so
--before, download and install the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/ssc-32-sequencer/" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect the USB
--cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
--the program.<br>
--      <br>
--The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
--towards the bottom right of the window is set to 9600 (not 115200). The
--software should automatically detect which COM port is connected to the
--SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
--(USB to serial) drivers</a> automatically.<br>
--      <br>
--      </font><font face="Verdana" size="2">Ensure Servos 0 4 are
--checked off in the software (and therefore accessible). </font><font face="Verdana" size="2">You can now move the sliders to see each servo
--rotate. </font><font face="Verdana" size="2">Verify that the servos
--are
--plugged into the channels as listed in Table 21. Easy does it; this is
--real time control, so be careful.<br>
--      <br>
--For more information, please consult the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-software/ssc-32-sequencer/WebHome/SSC32%20Servo%20Sequencer.pdf" target="_blank">SSC-32 Servo Sequencer Utility manual</a>. </font><br>
--      <br>
--      <br>
--      </td>
--      <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>
--      <font face="Verdana" size="2">Figure 22b (SSC-32 Utility).</font><br>
--      </td>
--    </tr>
--    <tr>
--      <td style="vertical-align: top;"><br>
--      </td>
--      <td style="vertical-align: top;"><br>
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 23a (SSC-32 / Lynxterm).</b><br>
--Click on the "All = 1500" button in LynxTerm. This will command the
--servos to hold center position. Your arm should look like Figure 24. If
--any joint is off by more than 15°, then you may have made an error in
--assembly.<br>
--      <br>
--      </font><font face="Verdana" size="2">If you did not purchase RIOS
--software, please proceed to step 28.</font><br>
--      <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>
--      </td>
--      <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>
--      <font face="Verdana" size="2">Figure 23</font>.<br>
--      </td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
--23b (SSC-32U / Servo Utility).</b><br>
--Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
--A knob next to each servo will appear (figure 23b). This knob is used
--to fine tune the servo's center position. The knob is not intended to
--be rotated: click the knob you wish to rotate, keeping the mouse button
--down, and drag up and down to rotate the knob. Do this for each servo
--until the arm looks like figure 23, and angles are 90 and 180 degrees.
--If
--any joint is off by more than 15°, then you may have made an error in
--assembly.<br>
--      <br>
--      </font><font face="Verdana" size="2">Once
--all servos have been
--properly positioned, click the "calibrate" button again to exit
--calibration mode. The offsets will automatically be saved on the SSC-32
--/ SSC-32U.</font><br>
--      <font face="Verdana" size="2"><br>
--If you did not purchase the RIOS software, please proceed to step 28.<br>
--      </font></td>
--      <td style="vertical-align: top; text-align: center;"><img style="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>
--      <font face="Verdana" size="2">
--Figure 23b (SSC-32 Utilty).</font><br>
--      </td>
--    </tr>
--    <tr>
--      <td style="vertical-align: top;"><br>
--      </td>
--      <td style="vertical-align: top;"><br>
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).<br>
--      </b></font><font face="Verdana" size="2">Should you have purchase
--RIOS, or a version of the arm which includes RIOS, please follow the
--next steps. </font><font face="Verdana" size="2">To use the RIOS Arm
--control software, you need to make one
--minor modification. Remove the servo horn screw from the elbow servo.
--Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
--the elbow and reattach the servo horn and screw. Note, the Hitec spline
--has 24 grooves, so each groove is 15°.</font></td>
--      <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>
--Figure 24.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 25</b></font><font face="Verdana" size="2"><b> (RIOS
--Users Only).</b></font><font face="Verdana" size="2"><br>
--At this point the arm is assembled and tested using LynxTerm. Now we
--need to install RIOS and calibrate the arm to the software. Use the
--RIOS Help File to calibrate and use the arm.</font>
--      <p><font face="Verdana" size="2">Install RIOS, following the
--on-screen installation prompts. The serial number is on the back of the
--CD sleeve.</font></p>
--      <p><font face="Verdana" size="2">Use the RIOS Help File to
--calibrate and use the arm, following Steps 1-7. When you get to Step 8
--in the help file, please use the following instructions instead.</font></p>
--      <p><font face="Verdana" size="2">Please take the time to do an
--accurate calibration. The performance of the arm will only be as good
--as the calibration. If the on screen virtual arm does not match the
--real arm this is a sign of an inaccurate calibration. After calibration
--please study the RIOS manual carefully to learn how to store and
--playback sequences for the arm.</font></p>
--      </td>
--      <td align="left" valign="top" >
--      <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>
--      <font face="Verdana" size="2">Figure 25 (RIOS).</font></p>
--      </td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 26</b></font><font face="Verdana" size="2"><b> (RIOS
--Users Only).</b></font><font face="Verdana" size="2"><br>
--To calibrate the arm's Shoulder servo, click the "SSC-32" button.</font></td>
--      <td align="left" valign="top" >
--      <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>
--      <font face="Verdana" size="2">Figure 26 (RIOS).</font></p>
--      </td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 27</b></font><font face="Verdana" size="2"><b> (RIOS
--Users Only).</b></font><font face="Verdana" size="2"><br>
--Start the servo configuration with the Shoulder, servo #2. Move the
--shoulder slider up to move the shoulder forward so that it looks like
--Figure 28-2. Set the Min Deg angle -45°. Right click on the slider to
--set this as the Min Position. Now the servo will not go past this
--value, and the program now knows this value is exactly 45° from
--centered.</font>
--      <p><font face="Verdana" size="2">Now move the slider down to move
--the shoulder backward so that it looks like Figure 28-3. Set the Max
--Deg angle to 45°. Right click on the slider to set this as the Max
--Position. Now the servo will not go past this value, and the program
--now knows this value is exactly 45° from centered.</font></p>
--      <p><font face="Verdana" size="2">The next step is to read and
--study the RIOS users guide. It is accessible by clicking on the help
--icon on the main screen or by navigating to the install directory
--(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
--manual explains in great detail how to use the arm.</font></p>
--      </td>
--      <td align="left" valign="top" >
--      <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>
--Figure 27-1 (RIOS).</font></p>
--      </td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" >
--      <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>
--Figure 27-2.</font></p>
--      </td>
--      <td align="left" valign="top" >
--      <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>
--Figure 27-3.</font></p>
--      </td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><br class="pb">
--      </td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 28.<br>
--      </b>To connect springs for load-balancing, replace the servo
--attachment hardware in the locations shown, following the diagrams
--below. Hook the springs together after they're secured.<br>
--      <br>
--      <br>
--      </font>
--      <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>
--      <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>
--      </td>
--      <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>
--Figure 28.</font></td>
--    </tr>
--    <tr>
--      <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
--    </tr>
--    <tr>
--      <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 29.<br>
--      </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
--but the servos can be damaged by improper use. An example would be if
--the arm was told to move to an unobtainable position, like the surface
--the arm is mounted to, or by crashing into itself or other
--objects. The elbow servo is the most vulnerable because it holds the
--entire weight of the forearm. As indicated in step 28, load balancing
--springs should be added to
--reduce some of this load.<br>
--      <br>
--      </font><font face="Verdana" size="2">If you purchased FlowBotics
--Studio,
--FlowStone or FlowArm, you can proceed with the instruction guide(s)
--associated with those programs.</font><br>
--      <p><font color="#ff0000" face="Verdana" size="2"><b> People do
--not like holding heavy objects with their arms outstretched in front of
--them. Servo based robot arms don't like it much either. Remember, the
--most important rule for servo based robot arms: Park the arm when not
--in motion! When it's moving or at rest it's usually ok. When it's
--holding an object it should do so for the minimum amount of time
--required to do the job. You can always touch the servo case to see if
--it's getting hot.</b> </font> </p>
--      </td>
--      <td align="center" valign="top" ><font face="Verdana" size="2"><br>
--      </font></td>
--      <td><br>
--      </td>
--    </tr>
--  </tbody>
--</table>
++      <div class="asm-figures">
++        <div class="asm-step-figure">
++          <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">
++          <span>Figure 22a (LynxTerm).</span>
++        </div>
++        <div class="asm-step-figure">
++          <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">
++          <span>Figure 22b (SSC-32 Utility).</span>
++        </div>
++      </div>
++    </div>
++  </div>
--</body>
++  <!-- Steps 23a / 23b -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Center All Servos</div>
++      <div class="asm-step-num">Steps 23a–23b / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p><span class="asm-optional">SSC-32 (Serial) — Step 23a</span><br>
++        Click "All = 1500" in LynxTerm. The arm should look like Figure 23. If any joint is off by more than 15°, check your assembly. If you did not purchase RIOS, proceed to Step 28.</p>
++        <p><span class="asm-optional">SSC-32U (USB) — Step 23b</span><br>
++        Click "Calibrate" in the SSC-32 Servo Sequencer Utility. Knobs appear next to each servo — click and drag up/down to fine-tune until the arm matches Figure 23. Once aligned, click "Calibrate" again to store offsets. If you did not purchase RIOS, proceed to Step 28.</p>
++      </div>
++      <div class="asm-figures">
++        <div class="asm-step-figure">
++          <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">
++          <span>Figure 23a (LynxTerm — All=1500).</span>
++        </div>
++        <div class="asm-step-figure">
++          <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">
++          <span>Figure 23 (target position).</span>
++        </div>
++        <div class="asm-step-figure">
++          <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/ssc-32-utility-calibrate.jpg">
++          <span>Figure 23b (SSC-32 Utility calibrate).</span>
++        </div>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 24 RIOS -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Adjust Elbow for RIOS</div>
++      <div class="asm-step-num">Step 24 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <span class="asm-optional">RIOS Users Only</span>
++        <p>Remove the servo horn screw from the elbow servo. Pull the horn off, lift the arm two clicks (30°) at the elbow, and reattach the horn and screw. Note: the Hitec spline has 24 grooves — each groove is 15°.</p>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 24.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 25 RIOS -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Install &amp; Calibrate RIOS</div>
++      <div class="asm-step-num">Step 25 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <span class="asm-optional">RIOS Users Only</span>
++        <p>Install RIOS following the on-screen prompts. The serial number is on the back of the CD sleeve. Use the RIOS Help File (Steps 1–7). Perform an accurate calibration — if the on-screen virtual arm doesn't match the real arm, calibration is inaccurate. Study the RIOS manual to learn how to store and playback sequences.</p>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 25 (RIOS).</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 26 RIOS -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Calibrate Shoulder in RIOS</div>
++      <div class="asm-step-num">Step 26 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <span class="asm-optional">RIOS Users Only</span>
++        <p>To calibrate the arm's Shoulder servo, click the "SSC-32" button in RIOS.</p>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 26 (RIOS).</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 27 RIOS -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Set Shoulder Min/Max in RIOS</div>
++      <div class="asm-step-num">Step 27 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <span class="asm-optional">RIOS Users Only</span>
++        <p>Select Shoulder servo #2. Move the slider up (forward) until it looks like Figure 27-2. Set Min Deg to <b>-45°</b> and right-click to set as Min Position.</p>
++        <p>Move the slider down (backward) until it looks like Figure 27-3. Set Max Deg to <b>45°</b> and right-click to set as Max Position.</p>
++        <p>Read the RIOS users guide (Help icon on main screen or <code>C:\Program Files\RIOS_SSC-32\Help.pdf</code>) for full usage instructions.</p>
++      </div>
++      <div class="asm-figures">
++        <div class="asm-step-figure">
++          <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">
++          <span>Figure 27-1 (RIOS).</span>
++        </div>
++        <div class="asm-step-figure">
++          <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">
++          <span>Figure 27-2 (Shoulder at -45°).</span>
++        </div>
++        <div class="asm-step-figure">
++          <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">
++          <span>Figure 27-3 (Shoulder at 45°).</span>
++        </div>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 28 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Install Load-Balancing Springs</div>
++      <div class="asm-step-num">Step 28 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>To connect springs for load-balancing, replace the servo attachment hardware in the locations shown per the diagrams below. Hook the springs together after they're secured.</p>
++        <div class="asm-parts">
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Spring assembly — shoulder attachment</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++          <div class="asm-part">
++            <div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Spring assembly — elbow attachment</div></div>
++            <div class="asm-part-img"><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"></div>
++          </div>
++        </div>
++      </div>
++      <div class="asm-step-figure">
++        <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">
++        <span>Figure 28.</span>
++      </div>
++    </div>
++  </div>
++
++  <!-- Step 29 -->
++  <div class="asm-step">
++    <div class="asm-step-header">
++      <div class="asm-step-name">AL5D — Assembly Complete!</div>
++      <div class="asm-step-num">Step 29 / 29</div>
++    </div>
++    <div class="asm-step-body">
++      <div class="asm-step-text">
++        <p>The arm assembly is complete. The arm is mechanically robust but servos can be damaged by improper use — commanding an unobtainable position, crashing into itself or other objects. The elbow servo is most vulnerable as it bears the full forearm weight. Load-balancing springs reduce this load.</p>
++        <p>If you purchased FlowBotics Studio, FlowStone, or FlowArm, proceed with the instruction guides associated with those programs.</p>
++        <p><span class="asm-warning">Important: People do not like holding heavy objects with their arms outstretched. Servo-based robot arms don't either. The most important rule: Park the arm when not in motion! When moving or at rest it is usually fine. When holding an object, do so for the minimum time required. You can always touch the servo case to check if it is getting hot.</span></p>
++      </div>
++    </div>
++  </div>
++
++</div>
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