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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