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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