Pioneer Module Mobile manual Installation, Remove the Console, Remove Microcontroller from Console

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Gripper & Experimenter’s Module

3.Installation

lease read through this chapter carefully before you attempt to attach the Gripper P& Experimenter’s Module to your Pioneer 1 Mobile Robot. If for any reason you

do not wish to perform the work yourself, contact RWI and make arrangements to have the assembly installed at the factory.

On the other hand, skip this chapter altogether if your Pioneer 1 Mobile Robot came with the Gripper & Experimenter’s Module Assembly already attached.

Turn OFF the Pioneer robot’s Main Power before installing the

Gripper & Experimenter’s Module.

3.1.1 Step 1: Remove the Console

The Gripper & Experimenter’s Module Assembly’s various ports and accessories connect to the Pioneer microcontroller’s power and expansion I/O. Also, software support is provided through a special Pioneer Server Operating System (PSOS), which is stored on a 32K EPROM mounted on the microcontroller. Accordingly, to install the Gripper/Experimenter’s Module and new PSOS, you must first disassemble the Pioneer Console.

With one of the hex wrenches that came with your robot, remove the six outermost screws that secure the top plate to the Console—two on the front (including camera, if attached) and two on each side.

If one is attached, carefully unplug and remove the Pioneer camera from the Console and back panel. Also unscrew and remove the radio modem antenna, if attached.

Twist counter-clockwiseto remove, and twist clockwise to insert the various screws.

Gently lift the Console top plate to expose the microcontroller board, which is mounted to its underside, and the various wire harnesses attached to it. Being careful to not handle the attached microcontroller card, remove the wire connectors on both sides of the card from their sockets, freeing the Console top plate with the microcontroller card attached.

3.1.2 Step 2: Remove Microcontroller from Console

Lay the Console top plate face up, with the Pioneer 1 microcontroller card down, onto a clean, soft surface (first section of the Sunday Times is a great pad). Locate and remove the six hex screws—one in each side and two in the middle—which secure the microcontroller board to the Console top plate. Separate the parts. The microcontroller board should be exposed now, face-up on the table (Figure 2-1).

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Contents Gripper Experimenter’s Module Manual Gripper & Experimenter’s Module Contents Maintenance & Repair User Supplied Components IntroductionGripper and Experimenter’s Package Package ComponentsGripper Description Basic Pioneer PlatformGripper & Experimenter’s Module Pioneer Gripper side view Pioneer 1 Experimenter’s Module Experimenter’s Module DescriptionPioneer and Saphira Newsgroups Additional ResourcesPioneer Web Software Archive Pioneer-support@rwii.com SupportRemove Microcontroller from Console InstallationRemove the Console Replace InstallationAttach Gripper/Experimenter’s Module to Pioneer Reattach Microcontroller to ConsoleRemove Nose Connect CablesRe-Attach the Console Test the AssemblyRe-Attach the Console Cables Psos Server Information Packet Gripper Operation and ProgrammingGripper Self Test Direct Control via Digital Ports Gripper I/OGripper Programming Int sfGripperGetState void SfRobotCom2BytessfCOMDIGOUT, 0x20SfRobotCom2BytessfCOMDIGOUT, 0x3 SfRobotCom2BytessfCOMDIGOUT, 0x2Gripper functions I/O Ports Experimenter’s ModuleExperimenter’s Module To skip Vv.vV BREAK, Boot to r EturnDigin Self-Test DiginProgramming the Speaker Programming the Digital I/O PortsProgramming the A/D Ports Factory Repairs Maintenance & RepairGripper Belt Adjustments Drive LubricationExample 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
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