6. Peripherals

Everything the robot talks to besides the PC and the tool: switches and sensors on its inputs, valves and lamps on its outputs, the air for the pneumatic gripper, and the CAN bus for the electric grippers.

Figure 6.1: The control board's connections to the outside world.

In this chapter

• Inputs and outputs
• Pneumatics
• CAN bus

The electrical details of the connectors are in the Control Board Manual.

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