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Gripper Operation and Programming
12
4.3 Gripper I/O
The Gripper’s single drive motor is controlled through two digital output lines and
under control of the microcontroller CPU: Output port OD0 controls the direction of
rotation and OD1 enables/disables the motor.
The act of gripping and raising objects is mechanical and dependent on the Gripper’s
position—you cannot independently operate the gripper paddles. Rather, you drive the
motor in one direction or the other. The paddles automatically open when the Gripper is
being lowered and reaches the bottom of the assembly. In reverse, the paddles
automatically close upon themselves or an object and then rise.
Switches on top (“up”), inside at one end of the Bar (“open”), and behind the Bar
(“carry”) indicate the various Gripper (G) positions (Table 3-1). In addition, bump
switches on the tips of each paddle indicate collisions, and break beams (b-b) inside the
paddles indicate the position of an object within the grasp. We identify the various I/O
ports and connections by name in Table 3-1. Consult the Tables in Chapter 5 for their pin
locations on the General and Nose I/O connectors.
Table 3-1. Gripper motor controls and state switches
Name I/O port Meanings
G.motor OD0 rotate 1=down; 0=up
G.motor OD1 1=enable
top ID0 0= G at top
carry ID1 0=paddles closed, G 4-5cm above floor
open ID2 0=paddles fully open
inner b-b ID3 1=object inside
outer b-b ID4 1=object inside
bumps ID5 0=paddle tip touching object
4.4 Gripper Programming
You can directly control the Gripper motor through the PSOS sfCOMDIGOUT
command and byte parameters. PSOS also will accept a new state command,
sfCOMGRIPPER, to achieve a gripper state, and sets the gripper motor bits
appropriately. There also are some Saphira convenience functions defined for getting
and setting the gripper state. For details on programming PSOS directly and through
Saphira, consult the Saphira Software and Pioneer Operations and Software Manuals.
sfCOMDIGOUT control of Pioneer digital output ports has been
changed in PSOS version 4.2 and later.
4.4.1 Direct Control via Digital Ports