Instructions Circuit Diagram

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7.6. SELFTEST
The yellow voltage LED lights up when the Robot Arm is switched on.
The status LED goes off when a HEX le is uploaded. As soon as a program
is started, the status LED lights up in red. In the robot status “Ready”, the
same LED lights up in green.
If this worked, you can execute a small selftest program to test the functio-
ning of all robot systems. Please click on the button “Add” on the bottom
of the Robot Loader window and select the le RobotArmExamples [MINI],
„Example_11_Selftest\RobotArm_Selftest.hex“ in the example directory. This
le contains the selftest program in hexadecimal format - that’s why this kind
of program le is called “hex le”. The le just selected appears afterwards
in the list. This way you can add other hex les from your own programs and
from the examples programs (see screen shot where some hex les have
already been added). The Robot Loader is able to manage several categories
of hex les.
This allows to sort the les in a clear way e.g. if several programmable ex-
tension modules are mounted on the robot or different program versions are
used. The list is automatically saved at the end of the program. Of course only
the paths to the hex les are saved, not the hex les themselves. If you work
on a program, you just need to add and select the hex le once. Then you can
load the new program into the microcontroller after every re-compiling of the
program. (you can also use the key combination [STRG+D] or [STRG+Y], to
start the program directly after the transfer). The path names are of course
totally different under the various operating systems. Nevertheless the Ro-
botLoader suits both, Windows and Linux, without any changes, as there is a
separate list for Windows and Linux.
Either you continue now with the other example programs (Examples) of the
Robot Arm or else you start with your own software programming.
WARNING!
If the voltage drops below < 4,4 V, a warning is displayed.
The maximum voltage that the RobotLoader is able to measure, is 5.1 V!