When I start this program, the Simulator shows the AL5D arm in a geometry which is not quite the actual position of the arm. For example, the actual “forearm” isn’t horizontal and the actual “wrist” isn’t forming a 90-degree angle between the forearm and the “hand” (gripper).
Is there anything that can be done to synchronize the display in the Simulator with the actual position of the arm?
And, whatever is done, can it be saved so that the synchronization process doesn’t have to be repeated from scratch every time I start the arm?
It sounds like you may need to calibrate your servomotors. The easiest way is to play the default pattern named “Zero”, which will send 1500 to every servomotor on your arm.
Once that is achieved, look at your arm for any physical discrepancies at each joint. Then, you can use the knobs near each joint on the display to adjust the signal so that your arm reaches the right position at each joint.
Please note this calibration is only for the software and will not be stored permanently on the robotic arm’s controller (SSC-32U).
You can also permanently store calibration data on your SSC-32U directly using our free diagnostic tool, Lynxterm (you can get a copy here). Simply follow the steps below to perform a calibration:
Please note that you can also activate the “initial pulse width”, which will force a specific position to all 32 channels of the SSC-32U on power-up. These can be set just like the offset, using the scrollbars on the left for each channel.
I find the (calibration) knobs almost impossible to use. First of all, I don’t know how to use them, so I am reduced to semi-random clicking and dragging in the vicinity of each knob I want to change. Second, they are way too small. I can’t remember a less convenient-to-use UI feature. Ever.
I tried LynxTerm, and the settings I do with it seem (I can’t tell for sure) to be ignored when I start FlowArm. That is, FlowArm puts the arm where it wants to, regardless of where I thought I was setting its initial position in LynxTerm.
Also, when I try to save a pattern in FlowArm, I’m getting an error to the effect that my (Windows 7) user doesn’t have permission to write to the “Programs” folder. Then, it asks if it can store the pattern in my user folder, and I say yes, but then I can’t find it (the newly saved pattern) anywhere.
There doesn’t seem to be an “About” feature, but when PLTW is running, it does show “FlowArm PLTW 4” in the upper left of the window.
Typically, the knobs are used in the following way: 1) click and hold the left mouse button on the knob. 2) move the mouse slowly up or down (i.e.: vertically) to change the value of the knob. 3) once the knob is at the value you need, release the left mouse button.
Thank you for your comments. These have been placed on file and will be considered during the next series of updates to the FlowArm PLTW software. Please note you can also change the size of the software window by clicking one of the three dark gray rectangles on the top right corner of the software. By default, the software starts in the “middle” setting. The largest setting may help you as it increases the size of everything.
When you connect to the arm using Lynxterm, start by pressing the All=1500 button. The arm will move to its calibration position (all servomotors centered). Then, go to the Reg. menu and press read (once or twice, until you have all the values displayed properly). Please take a screenshot of your settings and post it in your reply (you can attach documents using the Full editor mode). As you move the offsets, the associated servomotors should move, too (slowly). Let us know if this happens as expected.
This is a way that Windows 7 tries to “fix” user rights issues in a transparent manner. Unfortunately, it does not always work properly since it is not symmetric for writing a file and reading a file.
The files are most likely saved in what is called “Virtual Store”, which can be found at: %LOCALAPPDATA%\VirtualStore\Program Files (x86). The issue with this technique is that when writing the file, Windows redirects the file there. When the software tries to read the file, though, it is allowed to read the proper location, which does not have the file. There are a few ways around this issue:
You can run the software as an administrator. This would allow you to save the file in the proper folder.
You can change the user rights for that folder (from its properties’ window) to include your regular user accounts (non-administrators). Here is an example for Windows 7:
