ActivMedia Robotics Pioneer Gripper Скачать руководство пользователя страница 23

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19 Columbia Drive
Amherst, NH 03031
(603) 881-7960
(603) 881-3818 fax
http://www.activrobots.com

Содержание Pioneer Gripper

Страница 2: ...otics Developers and users are authorized by revocable license to develop and operate custom software for personal research and educational use only Duplication distribution reverse engineering or com...

Страница 3: ...equipment away from hair or fur Inappropriate Operation Inappropriate operation voids your warranty Inappropriate operation includes but is not limited to Dropping the equipment Overloading the Arm a...

Страница 4: ...Cable 6 STEP 5 REASSEMBLE 6 STEP 6 ATTACH THE GRIPPER 7 STEP 7 ENABLE THE GRIPPER IN AROS 7 STEP 7 TEST THE GRIPPER 8 TROUBLESHOOTING 8 CHAPTER 4 OPERATION AND PROGRAMMING 10 GRIPPER ON THE USER I O P...

Страница 5: ...ipper against mechanical and electronic parts and labor defects for one year Even though we ve made every effort to make your package complete please check the components once again after you unpack i...

Страница 6: ...g of interest to pioneer users Access to the pioneer users newslist is limited to subscribers so your address is safe from spam However the list currently is unmoderated so please confine your comment...

Страница 7: ...sor and infared IR breakbeam switches both front and rear to sense objects and their positions within its grasp These sensors too interface with the Pioneer controller through dedicated digital input...

Страница 8: ...p deck s edges The paddles close horizontally until they grasp an object or close on themselves The grasping pressure is under software control and varies between 200g 0 5 lbs and 2kg 5 lbs The Lift m...

Страница 9: ...Pioneer robot Use the 3mm hex wrenches that came with the robot Depending on the model two or three screws hold the nose to the underside of the sonar ring The bottom of the DX nose is hinged another...

Страница 10: ...ach the cables to their respective terminations NOTE If you have a factory installed Gripper the power cable is attached to the motor power board not the battery board Power Cable Figure 5 Pioneer 2 3...

Страница 11: ...ssembly That s it Time to re insert the batteries switch on your Pioneer 2 or 3 s Main Power and sniff for blue smoke If sparks don t fly and smoke is absent it s time to enable and test the Gripper s...

Страница 12: ...onboard PC Otherwise install it on your PC from the CDROM that accompanied your robot or from a fresh distribution you may download from the support website http robots activmedia com For operation de...

Страница 13: ...on You might even test it with a voltmeter the yellow wire is the positive terminal and should read battery level around 12VDC voltage Easily access the battery board through the rear plate of the top...

Страница 14: ...native ARCOS AROS P2OS commands that manage the User I O digital input and output ports For example to raise the Lift you might have your client software set the OD bits two and three with the DIGOUT...

Страница 15: ...integer argument which is the Gripper command number GRIPPER Command with Gripper Server Command Argument Commands to the Gripper servers are for the most part self explanatory For example to have th...

Страница 16: ...th AROS command 36 with grasp time value 17 LIFTcarry Intermediate Lift position must follow immediately with P2OS command 36 and carry_time value 1 100 grasp_time Time delay in 20 millisecond increme...

Страница 17: ...ER byte Gripper type 0 none 1 P2 3 2 PeopleBot GRIP_STATE byte See nearby Table GRASP_TIME byte MS time controls grasping pressure CHECKSUM integer Computed checksum ARIA GRIPPER SUPPORT ActivMedia Ro...

Страница 18: ...ots activmedia com techsupport Tell us your robot s SERIAL NUMBER In the body of your message describe the problem in as much detail as possible Also include your robot s serial number IMPORTANT as we...

Страница 19: ...mper indicators CONTROL Sint Setpoint of the server s angular position servo FLAGS Sint Various status and states COMPASS byte Electronic compass accessory heading in 2 degree units SONAR COUNT byte N...

Страница 20: ...ets are numbered odd pins on top and even pins on the bottom from right to left relative to the key 13 11 9 7 5 3 1 14 12 10 8 6 4 2 Figure 6 Location of the User I O Gripper port on the SH2 ARCOS bas...

Страница 21: ...4 ID1 ID1 Lift limit 5 OD2 OD2 Lift enable 6 ID2 ID2 Outer breakbeam IR 7 OD3 OD3 Lift direction 8 ID3 ID3 Inner breakbeam IR 9 ID4 ID4 Left paddle contact 10 OD4 OD4 Not used by Gripper 11 ID5 ID5 R...

Страница 22: ...f ActivMedia Robotics products shall bear no liabilities for operation and use of the robot or any accompanying software except that covered by the warranty and period The developers marketers or manu...

Страница 23: ...19 Columbia Drive Amherst NH 03031 603 881 7960 603 881 3818 fax http www activrobots com 19...