Kinova Communication system, Руководство пользователя

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KINOVA ® Communication system User Guide 43
7. Close the ssh window used for the Operator Adapter.
Pairing a new communication adapter for Z9-PC radio communication
This section describes how to pair a new communication adapter for Z9-PC radio
communication.
About this task
This procedure configures the two communication adapters to communicate with
each other over radio communications. This procedure requires configuration on each
of the communication adapters, remote and operator adapter. The complete pairing
procedure performs the configurations on each adapter to put the radio communication
configurations to the same default settings Kinova uses when configuring a pair of
adapters before sending to a customer.
Procedure
1. Configuring the Remote Adapter for paired radio communication .
2. Configuring the Operator Adapter for paired radio communication .
Configuring Remote Adapter for paired Z9-PC radio communication
This section describes how to configure a Remote Adapter for paired Z9-PC radio
communication.
Before you begin
Open a secure shell connection
between your computer and the robot port of the Remote
Adapter [
192.168.100.100
] and remove power from the Operator Adapter.
Procedure
1.
Change the controller type to be a Remote Adapter:
CLI-> quickstart
set_communication_system_mode RemoteAdapter
2.
Set the IP of the Radio interface:
CLI-> advanced ip_network local
radio_network_interface address
. Enter the following IP:
192.168.111.11
3.
Set the Subnet Mask of the Radio interface:
CLI-> advanced ip_network
local radio_network_interface subnet_mask
. Enter the following mask:
255.255.255.0
4.
Reboot the communication adapter:
CLI-> reboot
5.
Connect by ssh to the Remote Adapter:
192.168.100.100
6.
Open a shell on the radio:
CLI-> advanced radio z9-pc configure
7.
Reset the radio to factory default:
RADIO-CLI-> config.factoryDefaults 1
This
command will hang or disconnect the current session, so close your ssh window.
8.
Open a ssh shell to the Remote Adapter: [
192.168.100.100
]
9. Change the radio IP address to
192.168.111.100
.
CLI->advanced radio z9-pc
ip _ address 192.168.111.100
10.
Open a shell on the radio:
CLI-> advanced radio z9-pc configure
. You will be
prompted for a password. Use password 'user.'
11.
Change the IP address of the radio to
192.168.111.101
(The Remote Adapter Radio IP
address must be different from the Operator Adapter radio IP address)
a)
RADIO-CLI-> network.ip_address=192.168.111.101
Note: Aer this command, the shell may hang (the connecon drop because the IP has
changed).
b)
Close putty (or the SSH session), but DO NOT remove power to the Remote Adapter
12.
Open a ssh shell to the Remote Adapter: [
192.168.100.100
]