TCM2 Module
iii
Contents
The P2 TCM2.................................................................................................... 1
Pioneer 2 TCM2 Package ...............................................................................................................1
Package Components.................................................................................................................................. 1
User Supplied Components......................................................................................................................... 1
Basic Pioneer 2 Platform.................................................................................................................1
The P2 TCM2 Module ....................................................................................................................2
Required Components.....................................................................................................................2
Additional Resources ......................................................................................................................2
Pioneer Web Software Archive ................................................................................................................... 2
Pioneer and Saphira Newsgroups ............................................................................................................... 2
Support ...................................................................................................................................................... 3
Installation......................................................................................................... 4
Step 1: Remove Power ....................................................................................................................4
Step 2a: Locate Auxiliary Extension Cable ....................................................................................4
Step 2b: Install AUX Extension Cable............................................................................................4
Step 3: Mount the Module to the Robot .........................................................................................5
Step 4: Enabling the TCM2 in P2OS..............................................................................................5
Step 5: Test the Assembly...............................................................................................................6
Operation and Programming............................................................................ 7
TCM2 I/O .......................................................................................................................................7
P2OS TCM2 Servers ......................................................................................................................7
Mode 0....................................................................................................................................................... 8
Default Mode 1 .......................................................................................................................................... 8
Modes 2 and 3; TCM2 Server Information Packet ...................................................................................... 8
Calibration Modes 4-6.............................................................................................................................. 10
Reset Mode 7............................................................................................................................................ 10
Saphira TCM2 Plugin ...................................................................................................................10
TTY2 and GETAUX ....................................................................................................................10
Out-of-Pioneer Operation .............................................................................................................11
Maintenance & Repair.....................................................................................12
Factory Repairs.............................................................................................................................12
Appendix A.......................................................................................................13
Index .................................................................................................................13
Warranty & Liabilities ....................................................................................14
