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5 <tr>
6 <td align="left" valign="top" ><b><font face="Verdana" size="2">AL5D Arm Assembly Instructions Rev. 2.1.</font></b>
7 <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
8 </font></b></p>
9 <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
10 protection and never touch a powered robot!</font></p>
11 <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5D
12 arm with either
13 the SSC-32 or the SSC-32U servo controller. Take note of which version
14 you have
15 and follow each step accordingly, as the connections and configuration
16 are different. Calibration of the arm is done using one of the
17 following software:</span></strong></font></p>
18 <ul>
19 <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
20 <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
21 <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of
22 a kit)</span></font></li>
23 <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
24 </ul>
25 <p><font face="Verdana" size="2">Note: Loctite / thread lock
26 can be used on the construction of the aluminum components, though it
27 is not necessary if the nuts are properly tightened. However,
28 don't use them with Lexan or plastic, as they are not necessary and may
29 cause
30 damage.</font></p>
31 </td>
Eric Nantel 56.1 32 <td align="center" valign="top" width="320"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d00.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 33 <b>Image of complete arm (SSC-32 shown).</b></font></td>
34 </tr>
35 <tr>
36 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
37 </tr>
38 <tr>
39 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Lexan Preparation.<br>
40 </b>The lexan pieces have a protective covering that needs to be
41 removed before assembly. When the laser cuts, the covering melts into
42 the cut edge which can make removal difficult. If you gently scrape the
43 cut edge with a flat blade screwdriver, the covering can easily be
44 lifted and peeled off.</font>
45 <p><font face="Verdana" size="2">On smaller pieces the coverings
46 can be more difficult to remove. If you have trouble you can gently
47 scrape the cut edge, then use duct tape to lift the covering off.</font></p>
48 <p><font face="Verdana" size="2">For further information on
Eric Nantel 58.1 49 lexan, see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" target="_blank">this
Eric Nantel 53.1 50 page</a>.</font></p>
51 </td>
Eric Nantel 54.1 52 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/lexan01.jpg" border="2" height="240" hspace="10" ></font><br>
Eric Nantel 53.1 53 <font face="Verdana" size="2">Lexan Preparation.</font></td>
54 </tr>
55 <tr>
56 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
57 </tr>
58 <tr>
59 <td align="left" valign="top" >
60 <p><font face="Verdana" size="2"><b>Step 1.</b><br>
61 Connect the a large "C" bracket and an 805 "C" bracket together as
62 shown. The 805 bracket is identified by its larger size and circlular
63 extrusion. Use two 2-56 x 1/4" screws and 2-56 nuts.</font> </p>
64 <table border="0" >
65 <tbody>
66 <tr>
67 <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
68 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
69 </tr>
70 <tr>
71 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
72 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
73 </tr>
74 </tbody>
75 </table>
76 </td>
Eric Nantel 54.1 77 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d01.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 78 Figure 1.</font></td>
79 </tr>
80 <tr>
81 <td colspan="2" align="left" valign="top" ><br class="pb">
82 </td>
83 </tr>
84 <tr>
85 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 2.<br>
86 </b>Install the mechanical dampening panels as shown. Use four 2-56 x 1/4 inch
87 machine screws. Be sure to add the discs to the correct side and </font><font face="Verdana" size="2">ensure the protective covering has been
88 removed from the Lexan parts.</font><font face="Verdana" size="2">
89 Press down when screwing to ensure there is no gap between the Lexan
90 and the aluminum, as the screw will be threading the Lexan.&nbsp; </font>
Eric Nantel 54.1 91 <p align="center"><font face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/arm02.GIF" border="2" height="96" ></font></p>
Eric Nantel 53.1 92 </td>
Eric Nantel 54.1 93 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d02.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 94 Figure 2.</font></td>
95 </tr>
96 <tr>
97 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
98 </tr>
99 <tr>
100 <td align="left" valign="top" >
101 <p><font face="Verdana" size="2"><b>Step 3. <br>
102 </b> </font> <font face="Verdana" size="2">Insert the 4-40 x
103 .5" Phillips head screw through the hole in the multi-purpose bracket
104 as shown. Secure with a steel nut.</font></p>
105 <table border="0" >
106 <tbody>
107 <tr>
108 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
109 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
110 </tr>
111 <tr>
112 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
113 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
114 </tr>
115 </tbody>
116 </table>
117 </td>
Eric Nantel 54.1 118 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d03.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 119 Figure 3.</font></td>
120 </tr>
121 <tr>
122 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
123 </tr>
124 <tr>
125 <td align="left" valign="top" >
126 <p><font face="Verdana" size="2"><b>Step 4.<br>
127 </b>Slide the large "C" bracket end of the bracket assembly over
128 the screw as shown, and secure with a nylon insert lock nut. The amount
129 of friction can be adjusted by tightening or loosening the lock nut.
130 Start with the nut loose, and if the arm seems to wobble a bit, you can
131 tighten this joint to correct the wobble. <b><font color="#ff0000"><br>
132 </font></b></font></p>
133 <p><font face="Verdana" size="2"><b><font color="#ff0000">Caution
134 - don't over-tighten this! If the arm is operated with the mechanical
135 dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font></p>
136 <table border="0" >
137 <tbody>
138 <tr>
139 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
140 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
141 </tr>
142 <tr>
143 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
144 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
145 </tr>
146 </tbody>
147 </table>
148 </td>
Eric Nantel 54.1 149 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d04.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 150 Figure 4.</font></td>
151 </tr>
152 <tr>
153 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
154 </tr>
155 <tr>
156 <td align="left" valign="top" >
157 <p><font face="Verdana" size="2"><b>Step 5.<br>
158 </b>Attach the HS-805BB servo to the base bracket as shown using
159 the 3mm hardware; follow the diagram below. Use two #4 x 3/8" tapping
160 screws to secure the bracket to the servo horn. Route the shoulder
161 servo wires underneath the servo. Plug the servo into channel 1 on the
162 SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
163 take up the slack in the servo cable.</font></p>
164 <table border="0" >
165 <tbody>
166 <tr>
167 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
168 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
169 </tr>
170 <tr>
171 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/4375phts.gif" border="2" height="96" width="160"></font></td>
172 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
173 </tr>
174 <tr>
175 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;4
176 x<br>
177 </b></font></td>
178 </tr>
179 <tr>
180 <td colspan="2" >
Eric Nantel 54.1 181 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" ></font></p>
Eric Nantel 53.1 182 </td>
183 </tr>
184 </tbody>
185 </table>
186 </td>
Eric Nantel 54.1 187 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d05.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 188 Figure 5.</font></td>
189 </tr>
190 <tr>
191 <td colspan="2" align="left" valign="top" ><br class="pb">
192 </td>
193 </tr>
194 <tr>
195 <td align="left" valign="top" >
196 <p><font face="Verdana" size="2"><b>Step 6.<br>
197 </b>Attach
198 two of the tubing connector hubs to the short side of
199 the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.
200 Orientation is important; the hole in the tube should be as shown, so
201 the tube lines up as in figure 7.<br>
202 </font></p>
203 <table border="0" >
204 <tbody>
205 <tr>
206 <td ><font face="Verdana" size="2"><b>4 x (two
207 each)<br>
208 </b></font></td>
209 <td ><font face="Verdana" size="2"><b>4 x (two
210 each)<br>
211 </b></font></td>
212 </tr>
213 <tr>
214 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
215 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
216 </tr>
217 </tbody>
218 </table>
219 </td>
Eric Nantel 54.1 220 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5a05.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 221 Figure 6.</font></td>
222 </tr>
223 <tr>
224 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
225 </tr>
226 <tr>
227 <td align="left" valign="top" >
228 <p><font face="Verdana" size="2"><b>Step 7.<br>
229 </b>Connect the hubs to the 4.50" tube using two 4-40 x .250"
230 screws. Tighten these down tightly.</font></p>
231 <table border="0" >
232 <tbody>
233 <tr>
234 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
235 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
236 </tr>
237 <tr>
238 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/4250hscs.GIF" border="2" height="96" width="160"></font></td>
239 <td ><font face="Verdana" size="2">&nbsp;</font></td>
240 </tr>
241 </tbody>
242 </table>
243 </td>
Eric Nantel 54.1 244 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d03(1).jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 245 Figure 7.</font></td>
246 </tr>
247 <tr>
248 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
249 </tr>
250 <tr>
251 <td align="left" valign="top" >
252 <p><font face="Verdana" size="2"><b>Step 8.<br>
253 </b>Attach one end of the tubing structure to a Standard
254 Multi-Purpose bracket and
255 the other end to a Large Multi-Purpose bracket as shown in the image,
256 using four 2-56 x
257 .250 screws and 2-56 nuts.</font></p>
258 <table border="0" >
259 <tbody>
260 <tr>
261 <td ><font face="Verdana" size="2"><b>4 x (two
262 each)<br>
263 </b></font></td>
264 <td ><font face="Verdana" size="2"><b>4 x (two
265 each)<br>
266 </b></font></td>
267 </tr>
268 <tr>
269 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
270 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
271 </tr>
272 </tbody>
273 </table>
274 </td>
Eric Nantel 54.1 275 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d04(1).jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 276 Figure 8.</font></td>
277 </tr>
278 <tr>
279 <td colspan="2" align="left" valign="top" ><br class="pb">
280 </td>
281 </tr>
282 <tr>
283 <td align="left" valign="top" >
284 <p><font face="Verdana" size="2"><b>Step 9.</b><br>
285 Insert the 4-40 x .5" Phillips head screw through the hole in the large
286 multi-purpose bracket in the location shown. Secure with a steel nut.</font></p>
287 <table border="0" >
288 <tbody>
289 <tr>
290 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
291 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
292 </tr>
293 <tr>
294 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
295 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
296 </tr>
297 </tbody>
298 </table>
299 </td>
Eric Nantel 54.1 300 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5a08.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 301 Figure 9.</font></td>
302 </tr>
303 <tr>
304 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
305 </tr>
306 <tr>
307 <td align="left" valign="top" >
308 <p><font face="Verdana" size="2"><b>Step 10.<br>
309 </b>Slide the screw on the forearm assembly through the dampening
310 discs as shown, and secure with a nylon insert lock nut. The amount of
311 friction can be adjusted by tightening or loosening the lock nut. Start
312 with the nut loose, and if the arm seems to wobble a bit, you can
313 tighten this joint to correct the wobble. <br>
314 </font></p>
315 <p><font face="Verdana" size="2"><b><font color="#ff0000">Caution
316 - don't over-tighten this! If the arm is operated with the mechanical
317 dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font>
318 </p>
319 <table border="0" >
320 <tbody>
321 <tr>
322 <td ><font face="Verdana" size="2"><b>1 x</b></font></td>
323 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
324 </tr>
325 <tr>
326 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
327 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
328 </tr>
329 </tbody>
330 </table>
331 </td>
Eric Nantel 54.1 332 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d06.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 333 Figure 10.</font></td>
334 </tr>
335 <tr>
336 <td colspan="2" align="left" valign="top"><br class="pb">
337 </td>
338 </tr>
339 <tr>
340 <td valign="top"><font face="Verdana" size="2"><b>Step 11.<br>
341 </b>Figure 5 show a typical mega-size servo with its default
342 servo horn at center position. You will need to replace this black
343 servo horn with the round nylon servo horn.</font>
344 <p><font face="Verdana" size="2">Remove the servo horn screw,
345 being careful to not rotate the servo horn itself. Pull the servo horn
346 off, then press the nylon servo horn in place, as close to the
347 alignment shown as possible. Replace the servo horn screw.</font></p>
348 <p><font face="Verdana" size="2">Make sure your servo looks like
349 the image. The arrows in the image point to the screw holes you will
350 use.</font></p>
351 </td>
Eric Nantel 54.1 352 <td align="center" valign="bottom"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/mservo01.jpg" alt="" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 353 <font face="Verdana" size="2">Figure 11.</font></td>
354 </tr>
355 <tr>
356 <td colspan="2" align="left" valign="top" ><br class="pb">
357 </td>
358 </tr>
359 <tr>
360 <td rowspan="2" align="left" valign="top" ><font face="Verdana" size="2"><b>Step 12.</b><br>
361 Attach the HS-755HB elbow servo to the bracket as shown using the 3mm
362 hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
363 secure the bracket to the servo horn. Route the shoulder servo wires
364 over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
365 &nbsp;</font>
366
367 <p><font face="Verdana" size="2"><b><br>
368 </b></font> </p>
369 <table border="0" >
370 <tbody>
371 <tr>
372 <td ><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
373 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
374 </tr>
375 <tr>
376 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
377 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
378 </tr>
379 </tbody>
380 </table>
381 </td>
Eric Nantel 54.1 382 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d07.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 383 Figure 12.<br>
384 <br>
385 <br>
386 </font></td>
387 </tr>
388 <tr>
389 <td align="center" valign="top" ><font face="Verdana" size="2"><br>
390 </font></td>
391 </tr>
392 <tr>
393 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
394 </tr>
395 <tr>
396 <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
397 13.<br>
398 </b>Attach the Little Gripper connector to the short "C" bracket
399 using two 2-56 x .250" screws and 2-56 nuts.<br>
400 <br>
401 </font></td>
Eric Nantel 54.1 402 <td style="vertical-align: top; text-align: center;"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5a11.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 403 Figure 13.</font></td>
404 </tr>
405 <tr>
406 <td style="vertical-align: top;"><br>
407 </td>
408 <td style="vertical-align: top;"><br>
409 </td>
410 </tr>
411 <tr>
412 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 14.<br>
413 </b>Attach the short "C" bracket to the other Multi-purpose
414 bracket as shown.</font>
Eric Nantel 54.1 415 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/ballb02.gif" border="2" height="96" hspace="10" ><br>
Eric Nantel 53.1 416 </font></p>
417 </td>
Eric Nantel 54.1 418 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5a12.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 419 Figure 14.</font></td>
420 </tr>
421 <tr>
422 <td colspan="2" align="left" valign="top" ><br class="pb">
423 </td>
424 </tr>
425 <tr>
426 <td valign="top" ><font face="Verdana" size="2"><b>Step
427 15.<br>
428 </b>Figure 15 illustrates a typical standard-size servo with its
429 output horn (the round white part) at center position. Make sure your
430 servo looks like the image. The arrows in the image point to the screw
431 holes you will use.</font></td>
Eric Nantel 54.1 432 <td align="center" valign="bottom" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/servo02.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 433 <font face="Verdana" size="2">Figure 15.</font></td>
434 </tr>
435 <tr>
436 <td colspan="2" align="left" valign="top" >&nbsp;</td>
437 </tr>
438 <tr>
439 <td align="left" valign="top" >
440 <p><font face="Verdana" size="2"><b>Step 16.<br>
441 </b>Attach the HS-645MG wrist servo to the bracket as shown using
442 the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
443 screws to secure the bracket to the servo horn. Route the shoulder
444 servo wires over the servo.<br>
445 </font></p>
446 <table border="0" >
447 <tbody>
448 <tr>
449 <td ><font face="Verdana" size="2"><b>2 x</b></font></td>
450 <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
451 </tr>
452 <tr>
453 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
454 <td ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
455 </tr>
456 <tr>
457 <td colspan="2" ><font face="Verdana" size="2"><b>&nbsp;4
458 x<br>
459 </b></font></td>
460 </tr>
461 <tr>
462 <td colspan="2" >
Eric Nantel 54.1 463 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" ></font></p>
Eric Nantel 53.1 464 </td>
465 </tr>
466 </tbody>
467 </table>
468 </td>
Eric Nantel 54.1 469 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5a13.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 470 Figure 16.</font></td>
471 </tr>
472 <tr>
473 <td colspan="2" align="left" valign="top" ><br class="pb">
474 </td>
475 </tr>
476 <tr>
477 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 17.</b><br>
478 Add a 6" servo extender cable to the elbow servo. Plug the cable in to
479 channel 2 on the SSC-32. </font><font face="Verdana" size="2">Note
480 that the colors should remain the same on both sides of the connection
481 (yellow to yellow, red to red, black to black).</font></td>
Eric Nantel 54.1 482 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5c08a.jpg" border="2" height="240" ><br>
Eric Nantel 53.1 483 Figure 17.</font></td>
484 </tr>
485 <tr>
486 <td colspan="2" align="left" valign="top" >&nbsp;</td>
487 </tr>
488 <tr>
489 <td rowspan="2" align="left" valign="top" ><font face="Verdana" size="2"><b>Step 18.<br>
490 </b>Attach the Little Grip to the lexan as shown, using three
491 4-40 x .375" button head screws and acorn locking nuts. Only three
492 screws are used (shown in the image) as the body of the gripper servo
493 is in the way for the fourth.</font>
494 <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
495 may be substituted) servo is aligned to mid-position, and the gripper
496 is halfway open. Now the servo and gripper will be aligned correctly.
497 Remove the servo screw and horn. Slide the servo into the gripper from
498 the bottom. You may need to wiggle it, just a little bit, to get it
499 seated properly.
500 Use the servo screw to attach the servo. Tighten this down, but then
501 unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
502 &nbsp;</font> </p>
503 <table border="0" >
504 <tbody>
505 <tr>
506 <td ><font face="Verdana" size="2"><b>3 x</b></font></td>
507 <td ><font face="Verdana" size="2"><b>3 x</b></font></td>
508 </tr>
509 <tr>
510 <td ><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
511 <td ><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/440nan.GIF" border="2" height="96" width="160"></b></font></td>
512 </tr>
513 </tbody>
514 </table>
515 <p><font face="Verdana" size="2"><b>Step 19.</b><br>
516 Add a 12" and 6" servo extender cable to the gripper servo (18" total),
517 and a single 12"
518 extender cable to the wrist servo. Note that the colors should remain
519 the same on both sides of the connection (yellow to yellow, red to red,
520 black to black).<br>
521 </font></p>
522 </td>
Eric Nantel 54.1 523 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5a14.jpg" border="2" height="240" ><br>
Eric Nantel 53.1 524 Figure 18.<br>
525 &nbsp;</font></td>
526 </tr>
527 <tr>
Eric Nantel 54.1 528 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d08.jpg" border="2" height="240" ><br>
Eric Nantel 53.1 529 Figure 19.</font></td>
530 </tr>
531 <tr>
532 <td colspan="2" align="left" valign="top" ><br class="pb">
533 </td>
534 </tr>
535 <tr>
536 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 20.<br>
537 </b>Carefully bend the wrist servo back as far as it will go, and
538 use wire ties to secure the servo cables as shown. Make sure to leave
539 slack in the gripper servo cable, don't pull it too tight.</font></td>
Eric Nantel 54.1 540 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d09.jpg" border="2" height="240" ><br>
Eric Nantel 53.1 541 Figure 20.</font></td>
542 </tr>
543 <tr>
544 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
545 </tr>
546 <tr>
547 <td align="left" valign="top" >
548 <p><font face="Verdana" size="2"><b>Step 21.<br>
549 </b>Carefully stretch the arm forward as far as it will go, and
550 use wire ties to secure the servo cables as shown. Make sure to leave
551 slack in the cables, don't pull them too tight. Plug the servos in
552 according to Table 21. Once again, take a moment to ensure </font><font face="Verdana" size="2">the colors remain the same on both sides of
553 the connection (yellow to yellow, red to red, black to black). If not,
554 there will be issues and the servo in question will not behave
555 correctly.<br>
556 </font></p>
557 <div align="center">
558 <center>
Eric Nantel 54.1 559 <table border="1" bordercolor="#ffffff" >
Eric Nantel 53.1 560 <tbody>
561 <tr>
562 <td >
563 <div align="center">
Eric Nantel 54.1 564 <table border="1" bordercolor="#000000" >
Eric Nantel 53.1 565 <tbody>
566 <tr>
Eric Nantel 59.1 567 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2"><b>SSC-32
Eric Nantel 53.1 568 / 32U&nbsp; Pin<br>
569 </b></font></td>
Eric Nantel 59.1 570 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2"><b>Servo
Eric Nantel 53.1 571 Location</b></font></td>
Eric Nantel 59.1 572 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2"><b>Servo</b></font></td>
Eric Nantel 53.1 573 </tr>
574 <tr>
Eric Nantel 59.1 575 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">00</font></td>
576 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Base</font></td>
577 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-485HB</font></td>
Eric Nantel 53.1 578 </tr>
579 <tr>
Eric Nantel 59.1 580 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">01</font></td>
581 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Shoulder</font></td>
582 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-805BB</font></td>
Eric Nantel 53.1 583 </tr>
584 <tr>
Eric Nantel 59.1 585 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">02</font></td>
586 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Elbow</font></td>
587 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-755HB</font></td>
Eric Nantel 53.1 588 </tr>
589 <tr>
Eric Nantel 59.1 590 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">03</font></td>
591 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Wrist</font></td>
592 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-645MG</font></td>
Eric Nantel 53.1 593 </tr>
594 <tr>
Eric Nantel 59.1 595 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">04</font></td>
596 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Gripper</font></td>
597 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">HS-422 /
Eric Nantel 53.1 598 HS-425 / HS-322</font></td>
599 </tr>
600 <tr>
Eric Nantel 59.1 601 <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" ><font face="Verdana" size="2">05</font></td>
602 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Wrist
Eric Nantel 53.1 603 Rotate (Optional)</font></td>
Eric Nantel 59.1 604 <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" ><font face="Verdana" size="2">Not
Eric Nantel 53.1 605 included in kit</font></td>
606 </tr>
607 </tbody>
608 </table>
609 </div>
610 </td>
611 </tr>
612 <tr>
613 <td bordercolor="#FFFFFF">
614 <p align="center"><font face="Verdana" size="2">Table 21.</font></p>
615 </td>
616 </tr>
617 </tbody>
618 </table>
619 </center>
620 </div>
621 </td>
Eric Nantel 54.1 622 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d10.jpg" border="2" height="240" ><br>
Eric Nantel 53.1 623 Figure 21 (SSC-32 shown).</font></td>
624 </tr>
625 <tr>
626 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
627 </tr>
628 <tr>
629 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
630 If you have the SSC-32U (USB connector), please proceed with Step 22b.
631 If you have the SSC-32 (serial connector), we'll use LynxTerm to test
632 the
633 servos and confirm that they're all plugged into the proper channels (</font><font face="Verdana" size="2">just as in the Base Assembly Instructions)</font><font face="Verdana" size="2">.
Eric Nantel 58.1 634 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
Eric Nantel 53.1 635 the serial port and apply power. The green LED should light up and stay
636 on
637 until it receives a valid serial command. Run the LynxTerm program. If
Eric Nantel 58.1 638 LynxTerm cannot connect, please consult the <a href="https://community.robotshop.com/forum/t/serial-usb-to-serial-port-troubleshooting/17938" target="_blank">serial
Eric Nantel 53.1 639 and USB-to-serial troubleshooting guide</a>.<br>
640 <br>
641 </font><font face="Verdana" size="2">Now test the servos and
642 connections by selecting a channel, and moving
643 the servo carefully using the slider bar. Verify that the servos are
644 plugged into the channels as listed in Table 21. Easy does it; this is
645 real time control, so be careful! Select channels 0 through 4 one at a
646 time and test that each works.</font><br>
647 <p><font face="Verdana" size="2"><b><br>
648 </b></font></p>
649 </td>
Eric Nantel 55.1 650 <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>
Eric Nantel 53.1 651 </tr>
652 <tr>
653 <td colspan="2" align="left" valign="top" ><br class="pb">
654 </td>
655 </tr>
656 <tr>
657 <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
658 22b (SSC-32U / Servo Utility).<br>
659 </b>Just like in the base instructions, we will use the SSC-32
660 Servo
661 Sequencer Utility to test the servos and confirm they are all plugged
662 into their proper servo channels and oriented correctly. If not done so
Eric Nantel 58.1 663 before, download and install the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/ssc-32-sequencer/" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect the USB
Eric Nantel 53.1 664 cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
665 the program.<br>
666 <br>
667 The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
668 towards the bottom right of the window is set to 9600 (not 115200). The
669 software should automatically detect which COM port is connected to the
670 SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
671 (USB to serial) drivers</a> automatically.<br>
672 <br>
673 </font><font face="Verdana" size="2">Ensure Servos 0 4 are
674 checked off in the software (and therefore accessible). </font><font face="Verdana" size="2">You can now move the sliders to see each servo
675 rotate. </font><font face="Verdana" size="2">Verify that the servos
676 are
677 plugged into the channels as listed in Table 21. Easy does it; this is
678 real time control, so be careful.<br>
679 <br>
Eric Nantel 58.1 680 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>
Eric Nantel 53.1 681 <br>
682 <br>
683 </td>
Eric Nantel 54.1 684 <td style="text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/RB-Dsp-07.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 685 <font face="Verdana" size="2">Figure 22b (SSC-32 Utility).</font><br>
686 </td>
687 </tr>
688 <tr>
689 <td style="vertical-align: top;"><br>
690 </td>
691 <td style="vertical-align: top;"><br>
692 </td>
693 </tr>
694 <tr>
695 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 23a (SSC-32 / Lynxterm).</b><br>
696 Click on the "All = 1500" button in LynxTerm. This will command the
697 servos to hold center position. Your arm should look like Figure 24. If
698 any joint is off by more than 15°, then you may have made an error in
699 assembly.<br>
700 <br>
701 </font><font face="Verdana" size="2">If you did not purchase RIOS
702 software, please proceed to step 28.</font><br>
Eric Nantel 54.1 703 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/lterm02.jpg" border="2" height="120" hspace="10" ></font></p>
Eric Nantel 53.1 704 </td>
Eric Nantel 54.1 705 <td style="text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d24.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 706 <font face="Verdana" size="2">Figure 23</font>.<br>
707 </td>
708 </tr>
709 <tr>
710 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
711 </tr>
712 <tr>
713 <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
714 23b (SSC-32U / Servo Utility).</b><br>
715 Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
716 A knob next to each servo will appear (figure 23b). This knob is used
717 to fine tune the servo's center position. The knob is not intended to
718 be rotated: click the knob you wish to rotate, keeping the mouse button
719 down, and drag up and down to rotate the knob. Do this for each servo
720 until the arm looks like figure 23, and angles are 90 and 180 degrees.
721 If
722 any joint is off by more than 15°, then you may have made an error in
723 assembly.<br>
724 <br>
725 </font><font face="Verdana" size="2">Once
726 all servos have been
727 properly positioned, click the "calibrate" button again to exit
728 calibration mode. The offsets will automatically be saved on the SSC-32
729 / SSC-32U.</font><br>
730 <font face="Verdana" size="2"><br>
731 If you did not purchase the RIOS software, please proceed to step 28.<br>
732 </font></td>
Eric Nantel 55.1 733 <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>
Eric Nantel 53.1 734 <font face="Verdana" size="2">
735 Figure 23b (SSC-32 Utilty).</font><br>
736 </td>
737 </tr>
738 <tr>
739 <td style="vertical-align: top;"><br>
740 </td>
741 <td style="vertical-align: top;"><br>
742 </td>
743 </tr>
744 <tr>
745 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 24 (RIOS Users Only).<br>
746 </b></font><font face="Verdana" size="2">Should you have purchase
747 RIOS, or a version of the arm which includes RIOS, please follow the
748 next steps. </font><font face="Verdana" size="2">To use the RIOS Arm
749 control software, you need to make one
750 minor modification. Remove the servo horn screw from the elbow servo.
751 Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
752 the elbow and reattach the servo horn and screw. Note, the Hitec spline
753 has 24 grooves, so each groove is 15°.</font></td>
Eric Nantel 54.1 754 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d11.jpg" border="2" height="240" ><br>
Eric Nantel 53.1 755 Figure 24.</font></td>
756 </tr>
757 <tr>
758 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
759 </tr>
760 <tr>
761 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 25</b></font><font face="Verdana" size="2"><b> (RIOS
762 Users Only).</b></font><font face="Verdana" size="2"><br>
763 At this point the arm is assembled and tested using LynxTerm. Now we
764 need to install RIOS and calibrate the arm to the software. Use the
765 RIOS Help File to calibrate and use the arm.</font>
766 <p><font face="Verdana" size="2">Install RIOS, following the
767 on-screen installation prompts. The serial number is on the back of the
768 CD sleeve.</font></p>
769 <p><font face="Verdana" size="2">Use the RIOS Help File to
770 calibrate and use the arm, following Steps 1-7. When you get to Step 8
771 in the help file, please use the following instructions instead.</font></p>
772 <p><font face="Verdana" size="2">Please take the time to do an
773 accurate calibration. The performance of the arm will only be as good
774 as the calibration. If the on screen virtual arm does not match the
775 real arm this is a sign of an inaccurate calibration. After calibration
776 please study the RIOS manual carefully to learn how to store and
777 playback sequences for the arm.</font></p>
778 </td>
779 <td align="left" valign="top" >
Eric Nantel 54.1 780 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/rios03.jpg" border="2" height="240" hspace="10" ></font><br>
Eric Nantel 53.1 781 <font face="Verdana" size="2">Figure 25 (RIOS).</font></p>
782 </td>
783 </tr>
784 <tr>
785 <td colspan="2" align="left" valign="top" ><br class="pb">
786 </td>
787 </tr>
788 <tr>
789 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 26</b></font><font face="Verdana" size="2"><b> (RIOS
790 Users Only).</b></font><font face="Verdana" size="2"><br>
791 To calibrate the arm's Shoulder servo, click the "SSC-32" button.</font></td>
792 <td align="left" valign="top" >
Eric Nantel 54.1 793 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/rios04.jpg" border="2" height="240" hspace="10" ></font><br>
Eric Nantel 53.1 794 <font face="Verdana" size="2">Figure 26 (RIOS).</font></p>
795 </td>
796 </tr>
797 <tr>
798 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
799 </tr>
800 <tr>
801 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 27</b></font><font face="Verdana" size="2"><b> (RIOS
802 Users Only).</b></font><font face="Verdana" size="2"><br>
803 Start the servo configuration with the Shoulder, servo #2. Move the
804 shoulder slider up to move the shoulder forward so that it looks like
805 Figure 28-2. Set the Min Deg angle -45°. Right click on the slider to
806 set this as the Min Position. Now the servo will not go past this
807 value, and the program now knows this value is exactly 45° from
808 centered.</font>
809 <p><font face="Verdana" size="2">Now move the slider down to move
810 the shoulder backward so that it looks like Figure 28-3. Set the Max
811 Deg angle to 45°. Right click on the slider to set this as the Max
812 Position. Now the servo will not go past this value, and the program
813 now knows this value is exactly 45° from centered.</font></p>
814 <p><font face="Verdana" size="2">The next step is to read and
815 study the RIOS users guide. It is accessible by clicking on the help
816 icon on the main screen or by navigating to the install directory
817 (c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
818 manual explains in great detail how to use the arm.</font></p>
819 </td>
820 <td align="left" valign="top" >
821 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/rios01.jpg" border="2" height="240" hspace="10" width="321"><br>
822 Figure 27-1 (RIOS).</font></p>
823 </td>
824 </tr>
825 <tr>
826 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
827 </tr>
828 <tr>
829 <td align="left" valign="top" >
Eric Nantel 54.1 830 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5_452.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 831 Figure 27-2.</font></p>
832 </td>
833 <td align="left" valign="top" >
Eric Nantel 54.1 834 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5_45.jpg" border="2" height="240" hspace="10" ><br>
Eric Nantel 53.1 835 Figure 27-3.</font></p>
836 </td>
837 </tr>
838 <tr>
839 <td colspan="2" align="left" valign="top" ><br class="pb">
840 </td>
841 </tr>
842 <tr>
843 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 28.<br>
844 </b>To connect springs for load-balancing, replace the servo
845 attachment hardware in the locations shown, following the diagrams
846 below. Hook the springs together after they're secured.<br>
847 <br>
848 <br>
849 </font>
Eric Nantel 54.1 850 <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/spr03.gif" border="2" height="96" ></p>
851 <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/spr02.gif" border="2" height="96" ></p>
Eric Nantel 53.1 852 </td>
Eric Nantel 54.1 853 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5d-arm-rev-2-1/WebHome/al5d29.jpg" border="2" height="240" ><br>
Eric Nantel 53.1 854 Figure 28.</font></td>
855 </tr>
856 <tr>
857 <td colspan="2" align="left" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
858 </tr>
859 <tr>
860 <td align="left" valign="top" ><font face="Verdana" size="2"><b>Step 29.<br>
861 </b>The arm assembly is complete. </font><font face="Verdana" size="2">The arm is robust mechanically,
862 but the servos can be damaged by improper use. An example would be if
863 the arm was told to move to an unobtainable position, like the surface
864 the arm is mounted to, or by crashing into itself or other
865 objects. The elbow servo is the most vulnerable because it holds the
866 entire weight of the forearm. As indicated in step 28, load balancing
867 springs should be added to
868 reduce some of this load.<br>
869 <br>
870 </font><font face="Verdana" size="2">If you purchased FlowBotics
871 Studio,
872 FlowStone or FlowArm, you can proceed with the instruction guide(s)
873 associated with those programs.</font><br>
874 <p><font color="#ff0000" face="Verdana" size="2"><b> People do
875 not like holding heavy objects with their arms outstretched in front of
876 them. Servo based robot arms don't like it much either. Remember, the
877 most important rule for servo based robot arms: Park the arm when not
878 in motion! When it's moving or at rest it's usually ok. When it's
879 holding an object it should do so for the minimum amount of time
880 required to do the job. You can always touch the servo case to see if
881 it's getting hot.</b> </font> </p>
882 </td>
883 <td align="center" valign="top" ><font face="Verdana" size="2"><br>
884 </font></td>
885 <td><br>
886 </td>
887 </tr>
888 </tbody>
889 </table>
890
891 </body>
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