ActivMedia Robotics Pioneer 2 Arm, Manual

Page 1: ...Pioneer 2 Arm...

Page 2: ...edia Robotics Developers and users are authorized by revocable license to develop and operate custom software for personal research and educational use only Duplication distribution reverse engineerin...

Page 3: ...g the unit or any of its accessories Keep equipment away from hair or fur Inappropriate Operation Inappropriate operation voids your warranty Inappropriate operation includes but is not limited to Dro...

Page 4: ...ION AND DEVELOPMENT SOFTWARE 7 P2ArmDemo 7 SAFETY WATCHDOGS 8 Power and Connection Related Automatic Shutdown 8 Timed Shutdown 8 Gripper Release Timer 9 Warm Reset 9 CHAPTER 3 PROGRAMMING 10 GENERIC C...

Page 5: ...mputer to Robot 19 Step 2 Enable FLASH 19 Step 3 Put Microcontroller into Download Mode 19 Step 4 Run p2oscf 19 Step 5 Changing Configuration Parameters 20 Step 6 Save Your Work 20 EDITING P2OS ARM PA...

Page 6: ...vi...

Page 7: ...ferential skid steering version intended for outdoor all terrain AT operation Otherwise the platforms are nearly identical and share accessories including the Pioneer 2 Arm All Pioneers come with onbo...

Page 8: ...Operating System P2OS servers Your client software communicates with and controls the Arm through these P2OS servers Arm Package Your Pioneer 2 Arm is factory installed Our experienced manufacturing...

Page 9: ...anuals Access to private robotics newsgroups Direct access to the ActivMedia Robotics technical support team Software We maintain a 24 hour seven day per week Web server where customers may obtain sof...

Page 10: ...neer 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 comments and inquiries to i...

Page 11: ...CAUTION Always align your Pioneer 2 Arm into it s HOME position before use 1 Put the Arm into its home position The tip of the Arm s V shaped mounting base should point towards the rear of the robot a...

Page 12: ...ons last programmed into the con troller And if power is removed from the servos the Arm will fall into its mechanically limpest position Since the Arm s joint positions cannot be known they are assum...

Page 13: ...communications with your robot and its accessories thereby obviating the need for additional wireless modems or an expensive onboard PC with multiple serial ports Perhaps more importantly we ve inclu...

Page 14: ...atic Shutdown Because it is attached to the Pioneer 2 microcontroller your software may command and control the Pioneer 2 Arm only while it has an established client server connection with P2OS Moreov...

Page 15: ...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 it...

Page 16: ...ther hand give you control over joint speeds and maintain current position information as well as a variety of other advanced and convenient features Which is why we recommend that you program to the...

Page 17: ...er 2 Arm pass through your Pioneer 2 s HOST serial port and through P2OS to the Arm attached AUX serial port on the robot s microcontroller Similarly to retrieve responses from the Arm controller usin...

Page 18: ...s _AUTOPARK 80 0 65535 Disable the autopark watchdog 0 or reset it to some time in seconds other than default AutoParkTimer in FLASH _GRIPPARK 81 0 65535 Disable the gripper watchdog 0 or reset it to...

Page 19: ...connected n 1 0 7 Number of Pioneer 2 Arm joints default is six 0 if no Arm n 2 0 127 Servo 1 s speed setting n 3 0 255 Servo 1 s home position setting n 4 0 127 Servo 1 s minimum position value n 5 1...

Page 20: ...vidual joint speeds on the fly with the ARM_SPEED command number 78 or set their start up defaults through FLASH parameters see next chapter 1 127 milliseconds delay each Speeds may be set at any time...

Page 21: ...number 1 6 as command parameter or all command parameter 255 of your Pioneer 2 Arm joints to their home default positions Use the ARM_PARK command number 76 to send all the joints to their home positi...

Page 22: ...it for restoration of communication bit 1 of the status byte 2 Issue the ARM_INIT command 3 Use ARM_STAT and ARM_INFO SIP requests to reinitialize any client side variables that my be tracking joint p...

Page 23: ...d 1 127 ms per tick void sfP2ArmStop int joint Stop moving joint 1 6 or all 255 joints void sfP2ArmPark void Send Arm home and disable servo power void sfP2ArmAutoPark int waitSecs Forces ArmPark afte...

Page 24: ...n values for each joint at the extremes maximum and minimum The servos behaviors at the extremes are unpredictable The speed parameters are default joint speeds in 10 millisecond increments Unlike the...

Page 25: ...rect connection Step 2 Enable FLASH Locate the FLASH switch on the Pioneer 2 Console It s recessed and may be covered by an accessory Use a flat bladed screwdriver or other thin instrument to move the...

Page 26: ...robot s FLASH If you don t save your changes to FLASH they won t take effect We also strongly recommend that you save your work to disk as well for later retrieval should your microcontroller get dam...

Page 27: ...it is closed presumably gripping something for time seconds 0 disables Command Description keyword value Alone keyword displays current edited value Add value argument to change current value c or con...

Page 28: ...e end of the keyword refers to the joint Values are a positive decimal or hexadecimal 0xN numbers from 0 to 255 except speeds which are constrained from 1 to 127 For example to change the home positio...

Page 29: ...2184 fax 603 924 9100 voice In the body of your email or fax message describe the problem in as much detail as possible Also include your name email and mail addresses as well as phone and fax numbers...

Page 30: ...minum and plastic with foam covered gripper fingers MOTION 5 DOF arm and 1 DOF gripper POWER 5 and 12 VDC supplied by Pioneer robot ARM RANGE 50 cm fully extended GRIPPER RANGE Gripper fingers part to...

Page 31: ...control 10 GETAUX 11 Gripper release 9 GripperParkTimer 9 Home 6 15 HOST port 11 Installation 5 Joints 1 Konolige Kurt 1 Newsgroups 4 p2Arm 16 p2Arm directory 16 P2ArmDemo 7 P2OS 1 10 12 Arm servers 1...

Page 32: ...ers and manufacturers of ActivMedia Robotics products shall bear no liabilities for operation and use of the robot accessory or any accompanying software except that covered by the warranty and period...

Page 33: ...44 Concord Street Peterborough NH 03458 603 924 9100 603 924 2184 fax http www activrobots com...