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Step 2: Enable FLASH.......................................................................................................................... 47
Step 3: Put Microcontroller into Download Mode............................................................................... 47
Step 4: Run p2osdl................................................................................................................................ 47
Download Troubleshooting .................................................................................................................. 47
CONFIGURING P2OS OPERATING PARAMETERS........................................................................................ 48
Steps 1–3: Preparing for Configuration............................................................................................... 48
Step 4: Run p2oscf................................................................................................................................ 48
Step 5: Changing Configuration Parameters .......................................................................................48
Step 6: Save Your Work........................................................................................................................ 49
EDITING P2OS PARAMETERS .................................................................................................................... 49
SAVING AND RESTORING........................................................................................................................... 50
ARM PARAMETERS.................................................................................................................................... 50
PID PARAMETERS ..................................................................................................................................... 52
ENCODER AND REVCOUNT ........................................................................................................................ 52
CALIBRATION TOOLS - REVCOUNTCAL AND COMPASSCAL........................................................................ 53
CHAPTER 8 MAINTENANCE & REPAIR............................................................................................ 55
DRIVE LUBRICATION................................................................................................................................. 55
BATTERIES ................................................................................................................................................ 55
Changing Batteries............................................................................................................................... 55
Hot-Swapping the Batteries.................................................................................................................. 55
Charging the Battery ............................................................................................................................ 55
Alternative Battery Chargers................................................................................................................ 56
GETTING INSIDE ........................................................................................................................................ 56
Removing the Nose ............................................................................................................................... 56
Opening the Deck ................................................................................................................................. 57
FACTORY REPAIRS .................................................................................................................................... 57
FACTORY REPAIRS .................................................................................................................................... 58
APPENDIX A.............................................................................................................................................. 59
INTERNAL SERIAL CONNECTORS............................................................................................................... 60
USER I/O EXPANSION PORT ...................................................................................................................... 60
PERFORMANCE PEOPLEBOT I/O................................................................................................................ 61
THE GENERAL I/O BUS ............................................................................................................................. 62
APPENDIX B.............................................................................................................................................. 63
USER POWER CONNECTIONS ..................................................................................................................... 63
ONBOARD COMPUTER OPTION.................................................................................................................. 63
Power Switch (J7) and Delayed Shutdown Logic................................................................................ 63
Power-State Logic ................................................................................................................................ 64
Computer Power................................................................................................................................... 64
APPENDIX C.............................................................................................................................................. 65
JOYSTICK CONNECTOR.............................................................................................................................. 65
APPENDIX D.............................................................................................................................................. 66
SPECIFICATIONS ........................................................................................................................................ 66
INDEX......................................................................................................................................................... 68
WARRANTY & LIABILITIES ................................................................................................................ 70
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