The manipulator setup function is called lynx6_calibrate and is what you should invoke to first get acquainted with the manipulator.

This function pops open a GUI that has sliders bars to control the manipulator servo motors. The servo motors are sent numerical commands that range in [500, 2500], where 500 specifies one extreme of rotation and 2500 represents the other extreme. The servo should be centered around 1500. Hence the setup function starts off with all settings at 1500. The manipulator should be plugged, powered-up, and connected to the computer via the serial cable prior to running the setup function. This is because the manipulator will be repeatedly sent the command to go to 1500 for all servos in order to activate the servo motors. If the servos do not activate, then hit the Goto button repeatedly until it does so (if this still fails, come see me).

There are some boxes to the right that specify the current servo command, plus the min and max values that can be commanded. The numerical limits are 500 and 2500, but some may be set conservatively within these limits to protect the servos. If you hit the max and you think that the servo can go more, then adjust the min/max values and move into these new limits slowly. The min and max are editable text boxes.

Only if you build the manipulator It is critical that those who have the new manipulators made mostly out of aluminum remove the gripper servo motor from the gripper and have it sitting off to the side prior to invoking the setup function (do NOT lose the screw). Please still have it be connected to the servo controller board, just not engaged in the gripper. If the servo is in the gripper when it starts up and the servo was improperly installed, then activation could destroy the servo. Once the servo is activated, you can put it back into the gripper making sure that the gripper itself is at the half-way position when the servo motor is installed.