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4. EXPERIMENTER’S MODULE 15

4.1 I/O Ports 15

4.1.1 Digin: Self-Test 17

4.1.2 Digout: Self-Test 17

4.2 Programming the Digital I/O Ports 18

4.3 Programming the A/D Ports 18

4.4 Programming the Speaker 18

5. MAINTENANCE & REPAIR 19

5.1 Drive Lubrication 19

5.2 Gripper Belt Adjustments 19

5.3 Factory Repairs 19

6. APPENDIX A 20

Example C Program Demonstrates Gripper and Speaker Functions

7. APPENDIX B 24

Pioneer Server Information Packet

8. INDEX 25

WARRANTY & LIABILITIES 28

1 2 3 4 5 6 7 8 9 ... 31 32

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