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5.1.1 Digin: Self-Test
You may investigate the operation of the digital input and output ports through their
PSOS self-test modes.
After starting up your Pioneer, press the black Function button once to enable self-test
mode. The LCD message should now display:
BREAK, Boot to r
eturn
vv.vV*
indicating that Pioneer has entered self-test mode. (Note that the voltage V reading will
vary.) You may press the Reset button at any time to disable the self-test, and you may
press the Function button to skip any of the self-tests.
Skip to the digital input test by pressing the Function button 3 more times. The LCD
should now read:
Digin:
E6
to skip
The E6 may vary—it is the hexadecimal representation of the various digital input
ports, described in Table 4-1 and in the Gripper Chapter 4. Decode that indicator
according to the bit rule in Table 4-2.
For example, if you press the user push-button switch, the E6 value would change to
A6. See why?
Table 4-2. Bits and meanings of Digin: self-test value:
bit
7
6
1=
user
user
slide-sw
push-
up
button
released
0=
user
user
slide-sw
push-
down
button
pressed
5.1.2 Digout: Self-Test
Press the black Function button on the Console once more to set the Pioneer into a
self-test of its digital outputs. The test is pretty braindead: It simply toggles the odd and
even output ports alternately off and on: AA, 55, AA, 55, and so on. Watch the LEDs
flash on and off, the speaker click, and the Gripper twitch.
BOOT
vv.vV*
5
4
paddles
outer b-b
bump
clear
free
paddles
outer b-b
bump
obstruc-
pressed
ted
Gripper & Experimenter's Module
3
2
1
inner b-b
paddles
gripper
clear
not
below/
open
above
wide
4-5cm
inner b-b
paddles
gripper
obstruc-
wide
up 4-
ted
open
5cm
gripper
at top
0
gripper
not at
top
gripper
at top
17
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