Pioneer Module Mobile manual Contents

Pioneer Gripper & Experimenter’s Module Manual version 1.2, August 1997.

Contents			Page
1. INTRODUCTION			1
1.1	Gripper and Experimenter’s Package		1
1.1.1 Package Components			1
1.1.2 User Supplied Components			1
1.2	Basic Pioneer Platform		2
1.3	The Gripper & Experimenter’s Module		2
1.3.1 Gripper Description			2
1.3.2 Experimenter’s Module Description			4
1.4	Additional Resources		5
1.4.1 Pioneer Web Software Archive			5
1.4.2 Pioneer and Saphira Newsgroups			5
1.4.3 Support			6
2. INSTALLATION			7
2.1.1 Step 1: Remove the Console			7
2.1.2 Step 2: Remove Microcontroller from Console			7
2.1.3 Step 3: Replace the PSOS EPROM			8
2.1.4 Step 4		Reattach Microcontroller to Console	9
2.1.5 Step 5 Remove Nose			9
2.1.6 Step 6		Connect Cables	9
2.1.7 Step 7		Attach Gripper/Experimenter’s Module to Pioneer	9
2.1.8 Step 8		Re-Attach the Console Cables	10
2.1.9 Step 9		Re-Attach the Console	10
2.1.10 Step 10 Test the Assembly			10
3. GRIPPER OPERATION AND PROGRAMMING			11
3.1	Gripper Self Test		11
3.2	PSOS Server Information Packet		11
3.3	Gripper I/O		12
3.4 Gripper Programming			12
3.4.1 Direct Control via Digital Ports			13
3.4.2 State Commands			13

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