ActivMedia Robotics Pioneer Gripper, Руководство пользователя

Страница: 14 / 23

Gripper Operation and Programming
Chapter 4
The Pioneer Gripper comes fully integrated with your Pioneer 2 and 3's systems and
software. All
Activ Media Robotics’ controller-embedded software contain servers that
support state-based control routines that manage the Gripper functions for you. These
include the latest Renesas SH2-based ARCOS, Hitachi H8S-based AROS, and Siemens
C166-based P2OS Pioneer 2 and 3 controllers. Because it is attached through the
common Gripper-User I/O port, the controller and its servers also give you direct control
of the Gripper functions.
In turn, the controller servers are supported in all versions of Activ Media Robotics-related
client software, including ARIA and many others. We supply several ARIA-based client
examples for programming the Gripper in the ARIA
examples
/ directory. Please consult
the various operations and software manuals for many more client-programming details.
G
RIPPER ON THE
U
SER
I/O P
ORT
A Table nearby summarizes the Pioneer Gripper-User I/O port connections. You may
directly control the various Gripper functions and read its sensors using 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
command #30. The effect is to enable the Gripper Lift motor and
set its direction to go up.
Operating the Gripper directly from the
DIGOUT
functions can be dangerous, however.
For instance, if you left the Lift-enable bit set, you can and will damage the Gripper's
motor-driver electronics.
Table 1. Gripper Connections on User I/O
PIN SIGNAL DESCRIPTION
PIN
SIGNAL DESCRIPTION
1
OD0 OD0;
Gripper enable
2
ID0 ID0;
Paddles open limit
3
OD1 OD1;
Gripper direction
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;
Right paddle contact
12
OD5 OD5;
Not used by Gripper
13 ID6 ID6;
Not used by Gripper
14 OD6 OD6;
Not used by Gripper
15
ID7 ID7;
Not used by Gripper
16
OD7 OD7;
Not used by Gripper
17 *AN0 A/D port 0 (default)
(0-5VDC = 0-255)
18 Vcc 5VDC < 1A
19
Vpp Battery 12VDC < 1A
20
Gnd Signal/power common
The states of both the
DIGIN
(
IDx
) and
DIGOUT
(
ODx
) digital I/O ports (one byte each)
appear in the standard Server Information Packet (SIP) that the controller sends
10