Pioneer Module Mobile manual Gripper Experimenter’s Module Manual

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Gripper

&

Experimenter’s Module

Manual

version 1.2

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Contents Gripper Experimenter’s Module Manual Gripper & Experimenter’s Module Contents Maintenance & Repair Gripper and Experimenter’s Package IntroductionPackage Components User Supplied ComponentsGripper & Experimenter’s Module Basic Pioneer PlatformGripper Description Pioneer Gripper side view Pioneer 1 Experimenter’s Module Experimenter’s Module DescriptionPioneer Web Software Archive Additional ResourcesPioneer and Saphira Newsgroups Pioneer-support@rwii.com SupportRemove the Console InstallationRemove Microcontroller from Console Replace InstallationRemove Nose Reattach Microcontroller to ConsoleConnect Cables Attach Gripper/Experimenter’s Module to PioneerRe-Attach the Console Cables Test the AssemblyRe-Attach the Console Gripper Self Test Gripper Operation and ProgrammingPsos Server Information Packet Gripper Programming Gripper I/ODirect Control via Digital Ports SfRobotCom2BytessfCOMDIGOUT, 0x3 SfRobotCom2BytessfCOMDIGOUT, 0x20SfRobotCom2BytessfCOMDIGOUT, 0x2 Int sfGripperGetState voidGripper functions I/O Ports Experimenter’s ModuleExperimenter’s Module Digin Self-Test BREAK, Boot to r EturnDigin To skip Vv.vVProgramming the A/D Ports Programming the Digital I/O PortsProgramming the Speaker Gripper Belt Adjustments Maintenance & RepairDrive Lubrication Factory RepairsExample C Program Demonstrates Gripper and Speaker Functions Appendix aGripper & Experimenter’s Module Momentary switch, 0 is pressed Gripper & Experimenter’s Module Pioneer Server Information Packet Appendix BComsay IndexMore, Grinnell Gripper & Experimenter’s Module Warranty & Liabilities