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Gripper & Experimenter’s Module
17
5.1.1 Digin: Self-Test
You may investigate the operation of the digital input and output ports through their
PSOS self-test modes.
After starting up your Pioneer, press the black Function button once to enable self-test
mode. The LCD message should now display:
BREAK, Boot to r
eturn vv.vV*
indicating that Pioneer has entered self-test mode. (Note that the voltage V reading will
vary.) You may press the Reset button at any time to disable the self-test, and you may
press the Function button to skip any of the self-tests.
Skip to the digital input test by pressing the Function button 3 more times. The LCD
should now read:
Digin: E6 BOOT
to skip vv.vV*
The E6 may vary—it is the hexadecimal representation of the various digital input
ports, described in Table 4-1 and in the Gripper Chapter 4. Decode that indicator
according to the bit rule in Table 4-2.
For example, if you press the user push-button switch, the E6 value would change to
A6. See why?
Table 4-2. Bits and meanings of Digin: self-test value:
bit 7 6 5 4 3 2 1 0
1=
user
slide-sw
up
user
push-
button
released
paddles
bump
free
outer b-b
clear
inner b-b
clear
paddles
not
open
wide
gripper
below/
above
4-5cm
gripper
not at
top
0=
user
slide-sw
down
user
push-
button
pressed
paddles
bump
pressed
outer b-b
obstruc-
ted
inner b-b
obstruc-
ted
paddles
wide
open
gripper
up 4-
5cm
gripper
at top
gripper
at top
5.1.2 Digout: Self-Test
Press the black Function button on the Console once more to set the Pioneer into a
self-test of its digital outputs. The test is pretty braindead: It simply toggles the odd and
even output ports alternately off and on: AA, 55, AA, 55, and so on. Watch the LEDs
flash on and off, the speaker click, and the Gripper twitch.