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mand to the robotic arm. Parallel port lines D3 through D7 control the TIP 125 transistors directly.
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Connecting the interface to the robotic arm
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The robotic arm uses a single 6V power supply consisting of four D cell batteries in the base. The PC interface takes power from the arm s 6V power supply. The power supply is used like a bipolar 3V power supply. Power is tapped from the eight-conductor Molex connector to the arm base. Connect the interface to the robotic arm using the 3"-long eightconductor Molex cable. The Molex cable connects to the connector on the base of the robotic arm (see Fig. 15.8). Make sure the Molex connector is firmly and properly seated. To connect the interface to the computer s printer port, use the 6-ft DB25 cable supplied with the kit. One end of the cable connects to the computer s printer port. The other end connects to the DB25 connector on the interface board. In most cases the printer port is also used for the printer. To alleviate switching cables back and forth whenever you want to use the robotic arm, purchase an A/B data switch (DB25) box. Connect the robotic arm interface printer to the A side and the printer to the B side. Now you can use the switch to connect the computer to either the interface or printer.
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Insert the 3.5" diskette labeled Disk 1 into the computer s floppy drive and run the setup program (setup.exe). The setup program
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15.8 Connecting the PC interface to the robotic arm
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creates a directory named Images on the computer s hard drive and the needed files are copied into this directory. An Images icon is created on the Start menu. To run the program, click on this icon in the Start menu.
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Connect the computer s printer port to the interface using the 6-ft DB25 cable. Connect the interface to the base of the robotic arm. Keep the interface off for the time being. If you turned the interface on at this point, the existing information (status) left on the printer port may cause the robotic arm to begin performing a function. Start the program by double clicking the Images icon in the Start menu. The program s opening screen is shown in Fig. 15.9. With the program running, the red LED on the interface should be blinking. Note: The interface does not have to be turned on for the LED to blink. How fast the LED will blink depends on the processor speed in your computer. The blinking light from the LED may be very dim; you may need to block some room light to see it by cupping your hands around the LED. If the LED is not blinking, the program is probably set to the wrong printer port address (LPT port). To set the interface to a different printer port address (LPT port), go to the Printer Port Options box on the upper right-hand corner of the
15.9 Screen shot of Windows PC interface program fifteen
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screen. Click a different option. Whichever port setting option causes the LED to start blinking is the correct printer port address. With the LED blinking, click on the Pause button and then turn the interface on. Clicking on a function button causes the robotic arm to perform the corresponding function. Clicking on the button a second time stops that function. Using the function buttons to control the robotic arm in this manner is called the interactive mode.
Creating script files
To program motion and automation into the robotic arm, we use script files. The script file contains a list of timed instructions that control the robotic arm function. Creating script files is simple. To create a script file, click on the program button. This puts you in the programming script writing mode. Clicking on a function button will start the robotic arm function as before, but in addition, the function information is entered into the yellow script table on the lower left of the screen. The step number is placed in the left column, beginning with step 1, and increments with each new function. The function name is entered in the middle column. When the function button is clicked the second time, the function stops as before, but the elapsed time from starting to stopping the function is entered into the third column. The time elapsed is given in increments of a quarter second. Continuing in this manner a user may program up to 99 functions, including timed pauses, into a script file. Script files may be saved to and loaded from the local directory. Script files may be set to replay up to 99 times by typing a number in the repeat box and hitting Start. To stop writing into a script file, click on the interactive button. This puts the computer back into the interactive mode.
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