ActivMedia Robotics Pioneer 2 Arm, Руководство пользователя

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Activ Media Robotics
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AutoParkTimer
is set from a parameter stored in the robot’s FLASH memory and altered
through the
p2oscf
configuration utility. That timer default also can be disabled,
lengthened, or shortened with a P2OS Arm-related client command. It gets reset every
time your client software sends a motion-control command through the Arm’s P2OS
servers, too.
Gripper Release Timer
The Pioneer 2 Arm’s gripper servo can be subjected to overheating and stress while
grasping an object and holding it for excessive periods of time. Accordingly, like the
automatic shutdown timer, P2OS supports a special watchdog that automatically opens
the gripper to its default home position after it has been closed for a FLASH-parameter
set (
GripperParkTime
r) period of time. A special P2OS command lets you reset the
gripper timer, thereby overriding its immediate effects, as needed
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, although we
recommend that you don’t grasp objects for longer than five minutes at a time, with
healthy rest periods in between.
CAREFUL!
Unless carefully managed by your software, the Arm gripper timer may
act to drop an object prematurely.
Like
AutoParkTimer
, the gripper’s watchdog timer
GripperParkTimer
is a parameter
stored in your Pioneer 2’s FLASH memory and modified with the
p2oscf
configuration
utility. The timer defaults to five minutes and can be disabled. The timer gets reset every
time your software opens the gripper to or near its home position.
Warm Reset
Another P2OS watchdog keeps track of the connection between it and the Arm
controller. This is most important for when the connection between the Arm’s controller
and the P2OS servers is not enabled while establishing a client-server connection, or is lost
during a client-server session; for instance, if you inadvertently left the power switch to the
Arm OFF. In these rare circumstances, P2OS assumes the Arm is disabled and not in its
home position, and thereby goes into an Arm-disabled state that requires a special
protocol for recovery. This special handling is done to protect the Arm since P2OS
cannot know the nature or the status of the Arm when communications with the Arm
controller is disrupted, and therefore must assume the worst.
The protocol for recovery from a communications failure is either a cold-reset of the P2OS
controller or through the Warm Reset protocol of commands from a connected client.
Of course, take the latter approach if your client software already is connected and
controlling the robot. In all cases, be sure to put the Arm into its home position
before
resetting the system.
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Holding some nearly closed position, but not grasping an object, for example.