Pioneer Module Mobile manual Experimenter’s Module

Page 20

Experimenter’s Module

Note also that the Nose (N) 16-pin and the General (G) 26-pin I/O connectors are numbered odd pins on top and even pins on the bottom; not top, left to right, then bottom left to right. The pinouts for the Nose connector, for example, are:

 

 

1

3

 

5

7

9

 

11

 

13

15

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2

4

 

6

8

10

 

12

 

14

16

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Table 4-1. Pioneer I/O ports and connections

 

 

 

 

 

 

 

 

 

 

 

 

 

Label

Connector/Pin

 

 

Use

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Digital Inputs

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

ID0

G7

 

 

 

 

 

Gripper top switch

 

 

 

 

 

 

 

 

ID1

G9

 

 

 

 

 

Gripper carry switch

 

 

 

 

 

 

 

 

ID2

G11

 

 

 

 

 

Gripper open switch

 

 

 

 

 

 

 

 

ID3

G13

 

 

 

 

 

Paddle inner break beam

 

 

 

 

 

 

 

 

ID4

G15

 

 

 

 

 

Paddle outer break beam

 

 

 

 

 

 

 

 

ID5

N5

 

 

 

 

 

Paddle bump switches

 

 

 

 

 

 

 

 

ID6

N3

 

 

 

 

 

User push-button switch

 

 

 

 

 

 

 

 

ID7

N1

 

 

 

 

 

User slide switch

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Digital Outputs

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

OD0

G17

 

 

 

 

 

Gripper motor rotation direction

 

 

 

 

 

 

 

 

OD1

G19

 

 

 

 

 

Gripper motor enable

 

 

 

 

 

 

 

 

OD2

G21

 

 

 

 

 

User LED (amber)

 

 

 

 

 

 

 

 

OD3

G23

 

 

 

 

 

Right paddle and front LEDs

 

 

 

 

 

 

 

 

OD4

G25

 

 

 

 

 

Left paddle and front LEDs

 

 

 

 

 

 

 

 

 

 

 

OD5

N13

 

 

 

 

 

Speaker

 

 

 

 

 

 

 

 

 

 

 

OD6

N11

 

 

 

 

 

User servo motor logic

 

 

 

 

 

 

 

 

OD7

N9

 

 

 

 

 

User servo motor logic

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Miscellaneous

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

A/D

N7,G1

 

 

 

 

 

Analog-to-digital input

 

 

 

 

 

 

 

 

 

 

IDT

G3

 

 

 

 

 

Timer input

 

 

 

 

 

 

 

 

 

 

 

 

ODT

N15

 

 

 

 

 

Timer output

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Logic Power

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Ground

N2,4,6,8,14,16; G2,4,10,12,14,16,18,20,22,24,26

 

 

 

 

 

 

 

 

 

 

 

 

+5 VDC

N10,12; G6,8

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

16

Image 20
Contents Gripper Experimenter’s Module Manual Gripper & Experimenter’s Module Contents Maintenance & Repair Introduction Gripper and Experimenter’s PackagePackage Components User Supplied ComponentsGripper Description Basic Pioneer PlatformGripper & Experimenter’s Module Pioneer Gripper side view Experimenter’s Module Description Pioneer 1 Experimenter’s ModulePioneer and Saphira Newsgroups Additional ResourcesPioneer Web Software Archive Support Pioneer-support@rwii.comRemove Microcontroller from Console InstallationRemove the Console Installation ReplaceReattach Microcontroller to Console Remove NoseConnect Cables Attach Gripper/Experimenter’s Module to PioneerRe-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 SfRobotCom2BytessfCOMDIGOUT, 0x20 SfRobotCom2BytessfCOMDIGOUT, 0x3SfRobotCom2BytessfCOMDIGOUT, 0x2 Int sfGripperGetState voidGripper functions Experimenter’s Module I/O PortsExperimenter’s Module BREAK, Boot to r Eturn Digin Self-TestDigin To skip Vv.vVProgramming the Speaker Programming the Digital I/O PortsProgramming the A/D Ports Maintenance & Repair Gripper Belt AdjustmentsDrive Lubrication Factory RepairsAppendix a Example C Program Demonstrates Gripper and Speaker FunctionsGripper & Experimenter’s Module Momentary switch, 0 is pressed Gripper & Experimenter’s Module Appendix B Pioneer Server Information PacketIndex ComsayMore, Grinnell Gripper & Experimenter’s Module Warranty & Liabilities