1. FlowArm PLTW Motions Computer Integrated Manufacturing
© 2016 Project Lead The Way, Inc.

2. Manufacturing Costs
CIM
Cost of Manufacturing
FlowArm PLTW
Software allows a Lynxmotion robotic arm to interface with a computer.
The software can:
Operate an arm from a computer
Control an arm and two additional servos
Save a sequence of steps and repeat it accurately
Use inputs and outputs to make the robot communicate with other devices such as VEX® components
Project Lead The Way, Inc.
Copyright 2008

3. WARNING!
Ensure that people and equipment are clear of the robot arm work envelope before applying power to an arm – it may move at any time during the programming process.

4. WARNING!
Secure the robot arm to a stable base to avoid damage – consider laser cut acrylic or small piece of Luan plywood An arm can be attached to a VEX baseplate using VEX screws if the arm base holes are enlarged slightly

5. WARNING! Do not manually rotate or turn the wrist rotate servo.
Do not leave servos holding a position for a prolonged period of time.
Do not leave the gripper closed tightly against itself or on another object.
Do not leave a robot arm outstretched or supporting a load unnecessarily.
Confirm that all servo connections are in the correct orientation.
1. This servo contains small plastic gears that should only be driven by the internal motor of the servo. If turned by hand, the teeth on the plastic gears will strip and render the wrist rotate inoperable. These gears can be replaced if stripped with original plastic gears or upgraded to more reliable metal gears.
2. Even when the robot is sitting, it is holding the sitting position for as long as power is going to the servos. If the robot is not going to be used for a long period of time, please turn it off to save strain on the servos.
3. The gripper servo can easily burn if it holds too much pressure. When closing on an object, remember not to close tightly on the object. The foam pads on the robot gripper should provide enough resistance to lift and hold small objects.
4. An extreme strain is placed on a servo which holds a position with weight on it. This strain can reduce the life of the servos.
5. A servo that has power incorrectly applied can experience immediate and complete failure. The ground wire (black) must always be aligned closest the edge of the SSC-32 board. The signal wire (yellow) should always be aligned closest the center of the SSC-32 board.

6. Lynxmotion Robotic Arm Start Up and Shut Down Procedures
Refer to this resource for proper operation:
Activity 3.3.1a Lynxmotion Robotic Arm Start Up and Shut Down Procedures
Lesson 3.3 Lynxmotion Robotic Arm Start Up and Shut Down Procedures is provided as a reference to properly use the robotic arm.
A Lynxmotion Robotic Arm communicates to a computer through an electronic circuit board called a SSC-32, where the initials mean serial servo controller. The SSC-32 allows the communication port to be selected and may require a USB to serial adapter.

7. Start Up and Shut Down Procedures Summary
Step 1: Turn switches off.
Step 2: Install 9V battery and power adapter.
Step 3: Attach USB cable.
Step 4: Turn on SSC-32 switch and the servo switch.
Step 5: Start FlowArm PLTW software.
Step 6: Confirm communication established.
Shut Down
Step 1: Turn off switches.
Step 2: Close FlowArm PLTW software.
Step 3: Unplug USB converter, power adapter, and 9V battery.
Refer to Lesson 3.3 Lynxmotion Robotic Arm Start Up and Shut Down Procedures to properly use the robotic arm.
A Lynxmotion Robotic Arm communicates to a computer through an electronic circuit board called a SSC-32, where the initials mean serial servo controller. The SSC-32 allows the communication port to be selected and may require a USB to serial adapter.
After communication is established, it is recommended to leave the arm connected to that same computer and avoid connecting the arm to another within a short period of time.

8. FlowArm PLTW Emergency Stop
Emergency Stop or E-Stop
Stops all servo motion and communication
Select again to resume operation

9. Hardware and Software Manual
The Lynxmotion hardware and software online manual can be accessed directly from the FlowArm PLTW interface through the link shown.

10. FlowArm PLTW Areas Simulator Sequencer Control Panel
FlowArm PLTW software interface has two main areas: Simulator and Control Panel. Simulator shows current robot position and allows direct control of its position. The Control Panel controls a robot in multiple ways and contains the Sequencer which is used to program a series of motions.
Sequencer
Control Panel

11. FlowArm PLTW Axis Y-Axis Y-Axis Z-Axis X-Axis
FlowArm PLTW software interface has two main areas: Simulator and Control Panel. Simulator shows current robot position and allows direct control of its position. The Control Panel controls a robot in multiple ways and contains the Sequencer, which is used to program a series of motions.

12. FlowArm PLTW Window Size
Change Window Size
Note: Control-Z resizes to smallest window size if controls are beyond screen boundaries

13. Robot Arm Size
AL5D
AL5A
Select robot size

14. FlowArm PLTW Calibration
Hand
Elbow
Shoulder
Select Calibrate
Refine each joint rotation using the calibration dials until the robot and the onscreen image match
Deselect Calibrate to save the current settings
Note: Hold control button on keyboard and select dial to reset it to zero

15. Robot Arm Movement Several methods to move a robot arm
Move to target
Drag
Fine Control
Two representations of robot
Each shows a different viewpoint
Each representation moves robot differently
Refer to the AL5 arm guide for robot arm control function.

16. Robot Arm Representations
Top Elevation
Side Elevation
Refer to the AL5 arm guide for robot arm control function.

17. Move to Target Click a target within side elevation
Note: Avoid this method as it can place large stresses on arm servos
Not available in top elevation
Refer to the AL5 arm guide for robot arm control function.

18. Drag to Target
Click and drag the wrist to target within side elevation
Refer to the AL5 arm guide for robot arm control function.

19. Drag to Rotate Hand
Right click mouse and drag up and down to tilt hand
Refer to the AL5 arm guide for robot arm control function.

20. Drag or Fine Control to Rotate Wrist
Hold shift key while right clicking; drag up and down to rotate wrist
Fine control to adjust along X-axis
Refer to the AL5 arm guide for robot arm control function.

21. Drag or Fine Control to Open and Close Gripper
Hold control key while right clicking; drag up and down to open and close gripper
Fine control to adjust along X-axis
1.00 is fully open
0.00 is fully closed
Refer to the AL5 arm guide for robot arm control function.
WARNING!
Do not leave the gripper closed tightly on its own jaws or on an item for extended periods of time

22. Drag to Rotate Base
Within top elevation left click and drag to rotate the base
Hold shift key while left clicking; drag up and down to rotate base
Refer to the AL5 arm guide for robot arm control function.

23. Robot Arm Movement Hand Lock
Refer to the AL5 arm guide for robot arm control function.
Hand Lock:
On (green) maintains hand orientation relative to Earth
Off (unlit) maintains hand orientation relative to arm

24. Robot Arm Movement Fine Control
Fine Control moves a robot arm precisely in X, Y, and Z-Axis
Refer to the AL5 arm guide for robot arm control function.

25. Robot Arm Movement Fine Control Y-Axis
Fine control to adjust wrist along Y-axis
Refer to the AL5 arm guide for robot arm control function.

26. Robot Arm Movement Fine Control Z-Axis
Fine control to adjust wrist along Z-axis
Refer to the AL5 arm guide for robot arm control function.

27. Robot Arm Movement Fine Control X-Axis
Fine control to adjust along X-axis
CCW
Refer to the AL5 arm guide for robot arm control function. CW

28. Spare Servo Control
Two spare servo controls operated by dragging the dials or clicking the up and down buttons
e.g., pneumatic control
Refer to the AL5 arm guide for robot arm control function.

29. References
AL5 arm guide. (2014). Retrieved August 1, 2014, from