K-Team KJ-Gripper User Manual Download | Manualshive

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User manual

Version 1.0

June 2010

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Summary of Contents for KJ-Gripper

Page 1: ...K K K KJ J J J Grippe Grippe Grippe Gripper r r r User manual Version 1 0 June 2010...

Page 2: ...K Junior Gripper User Manual rev 1 0 2...

Page 3: ...nes Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp K Junior K Team LEGAL NOTICE The contents of this manual are subject to ch...

Page 4: ...1 3 UNPACKING AND INSPECTION 6 1 4 RECYCLING 6 2 THE K JUNIOR GRIPPER 7 2 1 OVERVIEW 7 2 2 ARM 8 2 3 GRIPPER 8 2 4 BATTERY 9 2 5 I2 C ADDRESS 9 2 6 I2 C REGISTER 9 3 CONNECTIONS 11 3 1 ASSEMBLING 11...

Page 5: ...CPU A microcontroller installed in the gripper manages local functionalities position and speed control of the arm and gripper battery management and communication with the K Junior A I2C network con...

Page 6: ...ished working with K Junior turn it off It will save the battery life 1 3 Unpacking and inspection Please check that you have a complete package You should find Documentation The Gripper Turret with a...

Page 7: ...ipper turret layout Make an external inspection of the turret Note the location of the following parts 1 Main Support 2 Screws to fix on the robot 3 Power input connector 4 Charge Led 5 Additional bat...

Page 8: ...n 5600 7000 or the LOW position 0 250 This will increase the battery autonomy when the arm is in stable position 2 3 Gripper The gripper is installed at the end of the arm with two foam grip which all...

Page 9: ...C Address Reading Writing 0x30 Firmware Version Do Nothing read only 0x31 0x32 Read the position of the Arm Set the Arm position without speed control 0 7000 0x33 0x34 Read the position of the Gripper...

Page 10: ...his register return the previous order of position value which was set by the user Writing Setting this register will told to the turret to move the Arm or the Gripper to the desired position with a s...

Page 11: ...f the K Junior robot and set the switches if necessary Assemble the Gripper turret on the K Junior directly in two steps First place the module on the extension connector checking that all pins are se...

Page 12: ...For the disassembling be careful that the Gripper and the Robot must be turned OFF Unscrew the two fixing screws Then take the robot with one hand and the gripper with the other and pull vertically to...

Page 13: ...of the KJiOS and the Gripper Library on our website Open the KJOs project with CCS 4 1 1 void HemGripper_Init void Function Gripper Initialization This function must be called at the beginning of each...

Page 14: ...on Example unsigned char ArmDisableFlag ArmDisableFlag HemGripperReadArmDisable 4 1 10 unsigned char HemGripper_Read_Gripper_Disable void Function Read the flag which indicate if the Gripper servo mus...

Page 15: ...oid HemGripper_Set_Arm_Speed unsigned char value Function Set the speed consign for the movement of the arm Example HemGripperSetArmSpeed 100 4 1 18 void HemGripper_Set_Gripper_Speed unsigned char val...

Page 16: ...otocol If you have an older version of firmware you can update it by downloading the last version on our website Please have a look at the last K Junior User Manual to learn more about the serial prot...

Page 17: ...K Junior Gripper User Manual rev 1 0 17 A Technical Specification Weight 200 g Power Supply 5 V Maximum payload 30 g Minimum object size 1 mm Maximum object size 70 mm Autonomy up to 3 hours...

Page 18: ...K Junior Gripper User Manual rev 1 0 18...

Page 19: ...K Junior Gripper User Manual rev 1 0 19...

Page 20: ...K Junior Gripper User Manual rev 1 0 20 K Team S A Rue Galilee 9 1400 Yverdon les bains Switzerland...

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