KJ-Genio - K-Team FTP area
Contents
1. KJ GENI User Manval K Tea Y version 1 0 JUne 2010 MOBILESROBOTICS K Junior Gripper User Manual rev 1 0 Documentation Author Frederic Lambercy K Team S A Rue Galilee 9 Y Park 1400 Yverdon les Bains Switzerland Email Url Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp K Junior K Team LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual K Junior Gripper User Manual rev 1 0 3 TABLE OF CONTENTS K Junior Gripper User Manual rev 1 0 4 I 1 INTRODUCTION doy The K Junior GenIO module allows to develop your own extension by connecting external components to the 12 digital input output or to the 5 8 bit analog inputs On K Junior GenIO a large area 1s prebored with a 0 1 spacing in order to solder or wrap your own component 1 1 How to use this handbook This manual introduces the K Junior GenIO module dedicated to K Junior robot If the manual do not answer to a question please consult K Team website www k team com and in particular the Forum and the FAQs 1 22. Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 38 0x26 Access R amp W 3 3 15 D7 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 39 0x27 Access R amp W 3 3 16 D8 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 40 0x28 Access R amp W 3 3 17 D9 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 41 0x29 ccess R amp W 3 3 18 D10 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 48 0x30 ccess R amp W 3 3 19 D11 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 49 0x31 Access R amp W 3 3 20 I2C Address Change Description this register allows to modify the DC module address The new address is stored in EEPROM so that you do not need to modify on reboot You need to specify a new even address in write mode register e g Ox AO If you enter an odd address e g 0x51 the module will default to its default base address OxDO Address 96 0x60 Access W K Junior Gripper User Manual re
3. Input Register Description allow to obtain the 8 bit value of the analog input A4 Address 20 0x14 Access R K Junior Gripper User Manual rev 1 0 3 3 7 A0 A4 Analog Input Register Description allow to obtain the 8 bit value of all the analog inputs in the order AQ to A4 Address 21 0x15 Access R 3 3 8 DO Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 32 0x20 Access R amp W 3 3 9 D1 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an Input Address 33 0x21 Access R amp W 3 3 10 D2 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 34 0x22 Access R amp W 3 3 11 D3 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 35 0x23 Access R amp W 3 3 12 D4 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 36 0x24 Access R amp W 3 3 13 D5 Digital I O Register Description in write mode this pin acts as an output while in read mode this pin acts as an input Address 37 0x25 Access R amp W K Junior Gripper User Manual rev 1 0 9 3 3 14 D6 Digital I O Register
4. Safety precautions Here are some recommendations on how to correctly use the K Junior Robot and the GenIO e Keep out from the wet places A contact with water can made a short circuit and damage the electronics e Don t plug or unplug any connector or turret when the robot is powered All connections and turret insertions must be made when the robot and the interface are switched OFF Otherwise damages can occur e Never leave the K Junior powered when it is unused When you have finished working with K Junior turn it off It will save the battery life 1 3 Recycling Think about the end of life of your robot Parts of the robot can be recycled and it is important to do so It is for instance important to keep batteries out of the solid waste stream When you throw away a battery it eventually ends up in a landfill or municipal incinerator These batteries which contain Lithium Polymer can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries through recycling programs you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your robot at the end of its life cycle for instance sending back the robot to the manufacturer or to your local dealer Thanks for your contribution to cleaner environment K Junior Gripper User Manual rev 1 0 5 2 Connection Installing and uninstalling the extension module is de
5. Weight NC Power Supply 5 V IC Max Freq 400 kHz Analog input number 5 A D Converter resolution 8 bits Digital input number 12 Maximum Output Current of a digital output 25 mA K Junior Gripper User Manual rev 1 0 t B Connectors rr 0o0o0000000000 00000 00000000000 ehoke hehe O 5 S885888885 ex99i19gj22286 RE O O NC NC MCLR GND GND lo O Figure B 1 Connector Details DO D1 1 Digital input output AO A4 Analog input SCL SDA I2C bus signals 5V 5V power supply GND Ground RB6 RB7 MCLR GND VCC PIC Processor Reprogramming Signals see K Junior FlexExtProg and K Junior Icd Adaptor K Junior Gripper User Manual rev 1 0 15 m K TEAM s m K Tea gt RUE Galilee 9 MOBILE ROBOTICS rn UC A DIVISION OF KT amp GT gt gt gt K Junior Gripper User Manual rev 1 0 16
6. licate Please read carefully instructions below to avoid damages K TEAM will not take in charge damages caused by a wrong manipulation 2 1 Install Start by checking that robot is switched Off then insert K Junior GenIO as much vertical as possible and according to the orientation below Figure 2 1 K Junior GenIO module top view Please do not attempt to insert K Junior GenIO in a different orientation or slightly biased it could cause important damages to K Junior or the extension module Uninstall 2 2 Check first that the K Junior Robot 1s switched off hold firmly the K Junior in your hand pull as much vertical as possible the K Junior GenIO module with the other hand Please take extra care in not bending connector pins K Junior Gripper User Manual rev 1 0 3 The K Junior GenlO u 3 1 Overview OOOO 0000 0000000 0000000 00000000000 00000000000 000000000000 000000000000 000000000000 000000000000 0000000000000000000000 oo 000000000000000 000000000000000 0000000000000000000 00000000000000000000000000000000000 00000000000000000000000000000000000 00000000000000000000000000000000000 00000000000000000000000000000000000 00000000000000000000000000000000000 00000000000000000000000000000000000 iJooooooooooo 000000000000 00000 6 o C9 W S Figure 3 1 Overview of the GenIO turret layout Make an external inspection of the turret Note the location of the following parts 1 K Junior Extensi
7. on Connectors 2 Digital I O Connector 3 Led 4 Processor 5 Module reprogramming connector 6 Connector for power supply analog inputs and PC Bus 3 2 FC Address The K Junior Robot control the GenlO through an C bus The turret address is defined by 7 bits I bit for the mode selection write or read 1 0 0 1 0 I I RW The GenIO FC address is OxD1 in read mode and OxDO in write mode K Junior Gripper User Manual rev 1 0 fi 3 3 Register Address To get values of inputs or to define the state of an output you need to access to the registers as follows below Along this section we will use the following notation e R fora Read only register e Wi for a Write only register e R amp W fora Read and a Write register 3 3 1 Firmware version register Description allow to read firmware version in processor memory Address 0 0x00 Access R 3 3 2 AO Analog Input Register Description allow to obtain the 8 bit value of the analog input AO Address 16 0x10 Access R 3 3 3 A1 Analog Input Register Description allow to obtain the 8 bit value of the analog input Al Address 17 0x11 Access R 3 3 4 A2 Analog Input Register Description allow to obtain the 8 bit value of the analog input A2 Address 18 0x12 Access R 3 3 5 A3 Analog Input Register Description allow to obtain the 8 bit value of the analog input A3 Address 19 0x13 Access R 3 3 6 A4 Analog
8. v 1 0 10 3 4 Electronics Please note that in order to avoid erroneous reading when reading an unconnected input all I Os either digital or analog are connected to a 100 kOhm pull down resistor see schematics below PIC16F876 H 700 KOhms GND Figure 3 4 Pull Down Schematics K Junior Gripper User Manual rev 1 0 11 4 Use There is two ways to use K Junior GenIO e Program it in C using CCS C Compiler non provided e Control it via serial port either using your own software or using for instance SysQuake LE 4 1 Programming in C language To ram K Junior in C you must acquire CCS C compiler http www k i We recommend that you first read the latest version of the KJOs manual me vu UN Junior KJOSManual doc This manual provides all necessary information about installing and using CCS on K Junior modules e Download the latest version of KJOs as well as the latest version of K Junior GenIO Lib including HemGenlO h e Open the project using CCS C Compiler To use the following functions you must first include HemGenIO h at the beginning of your code include HemGenIO h HemGenlO h must be in your project s directory HemGenlO h includes the following functions 4 1 1 char HemGenlO Init void Goal Initialize HemGenIO module You must call this fonction first when using HemGenlO module Example HemGenlOlnit 4 1 2 char HemGenlO Read Version void Goal Read the HemGenlO firm
9. ware version Exemple char Version Version HemGenlOReadVersion 4 1 3 int HemGenlO Read Digital char input Goal Return state 0 or 1 of a digital input The input parameter allows to select the input 0 to 11 Example intl StateIODigl StateIODigl HemGenIOReadDigital 1 4 1 4 void HemGenlO Write Digital char input int1 state Goal Define the state of a digital output The first parameter selects the output O to 11 while the seconds defines its state O or 1 Example HemGenIOWriteDigital 9 0 Clear D9 to O GND K Junior Gripper User Manual rev 1 0 12 4 1 5 char HemGenlO Read Analog char input Goal Returns a 8 bit analog value 0 OV 255 5V of an analog input 0 to 4 Example char Analog2 Value Analog2 Value HemGenIOReadAnalog 2 4 2 Serial Port Control Thanks to the K Junior firmware you can access to TC modules via the RS232 command line For that please refer to the latest K Junior user manual Examples e W D0 26 01 digital output D6 set to 1 SV e R D0 00 01 returns firmware version You can use any development environment that can access serial port to interface to K Junior GenIO For instance we developed a graphical interface to read and configure the K Junior GenIO You must first plug your K Junior GenIO to the K Junior turn on the robot and then connect the PC to the K Junior with the USB cable K Junior Gripper User Manual rev 1 0 13 A Technical Specification
Download Pdf Manuals
Related Search