Pioneer Module Mobile manual Maintenance & Repair

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4. EXPERIMENTER’S MODULE		15
4.1	I/O Ports	15
4.1.1 Digin: Self-Test		17
4.1.2 Digout: Self-Test		17
4.2	Programming the Digital I/O Ports	18
4.3	Programming the A/D Ports	18
4.4	Programming the Speaker	18

5. MAINTENANCE & REPAIR		19
5.1	Drive Lubrication	19
5.2	Gripper Belt Adjustments	19
5.3	Factory Repairs	19

6. APPENDIX A	20
Example C Program Demonstrates Gripper and Speaker Functions
7. APPENDIX B	24
Pioneer Server Information Packet
8. INDEX	25
WARRANTY & LIABILITIES	28

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Contents Gripper Experimenter’s Module Manual Gripper & Experimenter’s Module Contents Maintenance & Repair Introduction Gripper and Experimenter’s PackagePackage Components User Supplied ComponentsGripper & Experimenter’s Module Basic Pioneer PlatformGripper Description Pioneer Gripper side view Experimenter’s Module Description Pioneer 1 Experimenter’s ModulePioneer Web Software Archive Additional ResourcesPioneer and Saphira Newsgroups Support Pioneer-support@rwii.comRemove the Console InstallationRemove Microcontroller from Console Installation ReplaceReattach Microcontroller to Console Remove NoseConnect 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, 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 A/D Ports Programming the Digital I/O PortsProgramming the Speaker 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