1. FlowArm PLTW Motions © 2013 Project Lead The Way, Inc.Computer Integrated Manufacturing

2. 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 FlowArm PLTW

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! 1.Do not manually rotate or turn the wrist rotate servo. 2.Do not leave servos holding a position for a prolonged period of time. 3.Do not leave the gripper closed tightly against itself or on another object. 4.Do not leave a robot arm outstretched or supporting a load unnecessarily. 5.Confirm that all servo connections are in the correct orientation.

6. Lynxmotion Robotic Arm Start Up and Shut Down Procedures Refer to this resource for proper operation: Lesson 3.3 Lynxmotion Robotic Arm Start Up and Shut Down Procedures

7. Start Up 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. Start Up and Shut Down Procedures Summary

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

10. FlowArm PLTW Areas Simulator Sequencer Control Panel

11. FlowArm PLTW Axis Z-Axis Y-Axis X-Axis Y-Axis

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 Select robot size AL5D AL5A

14. FlowArm PLTW Calibration 1.Select Calibrate 2.Refine each joint rotation using the calibration dials until the robot and the onscreen image match 3.Deselect Calibrate to save the current settings Note: Hold control button on keyboard and select dial to reset it to zero HandElbow Shoulder

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

16. Robot Arm Representations Side Elevation Top Elevation

17. Move to Target Not available in top elevation Click a target within side elevation Note: Avoid this method as it can place large stresses on arm servos

18. Drag to Target Click and drag the wrist to target within side elevation

19. Drag to Rotate Hand Right click mouse and drag up and down to tilt hand

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

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 WARNING! Do not leave the gripper closed tightly on its own jaws or on an item for extended periods of time Fine control to adjust along X-axis 1.00 is fully open 0.00 is fully closed

22. Drag to Rotate Base Hold shift key while left clicking; drag up and down to rotate base Within top elevation left click and drag to rotate the base

23. Robot Arm Movement Hand Lock 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

25. Robot Arm Movement Fine Control Y-Axis Fine control to adjust wrist along Y-axis

26. Robot Arm Movement Fine Control Z-Axis Fine control to adjust wrist along Z-axis

27. Robot Arm Movement Fine Control X-Axis Fine control to adjust along X-axis CCW 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

29. References AL5 arm guide. (2014). Retrieved August 1, 2014, from http://www.flowbotics.com/manuals/flowarm-pltw.pdf