SDOUT SDIN how to use KAREL RH S420

[paminachristoph]

Hello Friends,
i need your help!
I have a RH-Comtroller with S420. I like to use SDIN ans SDOUT (EE Endeffectorsignal).  In Karel i can read SDIN-Signal.
I don`t have any mapping. If i try to set an Output to "1" (SDOUT(1)=ON i got no error messages. If i run the program i got 6111 - wrong port!
What is missing for using these SDOUT-Signals?
Excuse my bad english!

[ctilley]

The end effector outputs are also referred to as "hand signals". There should be four of them available to use. To use these outputs in a program there are three available instructions....
open hand x, close hand x, and relax hand x (where x is the # of the "hand" you want to operate).
You will need to also set these up in your usat table. The hand signals are described in detail in the karel reference manual.

[Tonichu]

I think you have two posibilities.
1.-You can access End Effector connector signals with RDI1 to RDI8 for inputs signals and RDO1 to RDO8 for outputs signals.

2.- You can acces End Effector signals like a DIN and DOUT signals, for this you must to do:
      - Edit USAT table.
      - Select a DIN free range (in my case 49 to 56 inputs).
      - Edit it: Rack=1, Slot=0, Base=1, Pol=0.
      - Select a DOUT free range (in my case 49 to 56 outputs).
      - Edit it: Rack=1, Slot=0, Base=1, Pol=0.

3.- Now you can acces to first input from end effector (RDI1) like DIN49. The same for outputs. 

If you don't know how edit USAT table, tell me.

I hope this will be good for you.

[Freddy]

Hello,

I am also trying to install gripper signals to the endeffector and program them.

How can I map these in USAT?

Freddy