Toggle Switches on the jeol1230 - room 118

The toggle switch can be set to "robot" or "manual". When in 'manual' position, the toggle switch "pump/air" of the microscope is bypassed. A relay carries out the electrical switching of the airlock from "pump" to "air". This relay opens or close to mimic the action of the microscope switch. To open or close the relay, a TTL signal that is being sent to the appropriate digital I/O port in the robot controller.

The spy file has log information being sent to the switch as the robot operates. The parameters file can be checked for the identity of the I/O channel that corresponds to the pump/air switch and we can see if there is something in the spy file that looks like it tells when the state changes.

Analysis of the signals on the toggle switch "Manual/Robot"; 01/04/2010

Chanel1 (CH1) = blue wire in the middle of the Manual/Robot switch
Chanel2 (CH2) = green wire in the middle of the Manual/Robot switch
Difference = Chanel1 - Chanel2

Test 1 : Toggle Switch to Manual:

• Toggle switch pump/air im PUMP

• Toggle switch pump/air im AIR

Test 2 : Toggle Switch to Robot:

• Press the "PUMP" button of the iRobot interface:

• Press the "AIR" button of the iRobot interface:

Test 3 : Toggle Switch to Manual; insertion/extraction of the Holder by KD:

• Insertion:
  • initially: CH1 and CH2 at +22....; difference at -0.26 (means toggle switch to AIR)
  • Switch the switch to pump: difference moves at +0.31 (means toggle switch to PUMP)
  • Push the Holder within the column (first movement) --> at the end of the movement (when the sliding panel moves down), CH2 goes to 0V
  • wait for vacuum to be around 40
  • turn --> at the beginning of the turn, CH2 goes back to +22...V , difference back to +0.30
  • no more modifications with the last movements of the insertion
• Extraction:
  • initially: CH1 and CH2 at +22....; difference at +0.30 (means toggle switch to PUMP)
  • Switch the switch to air, difference moves at -0.26
  • Pull the Holder out from the column (first movement)
  • Turn
  • Pull again a little
  • Turn; at the end of the turn CH1 goes to 0V
  • wait a bit
  • Pull the Holder (final movement) , CH1 goes back to +22...V

Test 4 : Toggle Switch to Robot; insertion/extraction of the Holder by the robot:

• Insertion:
  • initially: CH1 and CH2 at +22....; difference at -0.26 (means toggle switch to AIR)
  • Holder is pushed within the column (first movement) --> at the end of the movement (when the sliding panel moves down), CH2 goes to 0V
  • Robot waits for vacuum to be below 50
  • turns --> CH2 goes back to +22...V , difference back to +0.33
  • no more modifications with the last movements of the insertion
• Extraction:
  • initially: CH1 and CH2 at +22....; difference at +0.30 (means toggle switch to PUMP)
  • The robot pulls the Holder out from the column (first movement) and right at the beginning of the movements, difference goes at -0.26 (means toggle switch to PUMP)
  • Holder is Turned
  • it is pulled again a little
  • it is turned; and at the end of the turn, CH1 goes to 0V
  • the robot waits a bit
  • It then pulls the Holder (final movement), and CH1 goes back to +22...V, difference back to -0.26

So, it seems that the +0.33 difference between the 2 chanels indicates the toggle switch is switched to pump, and the -0.26 that it is switched to air, whether the switch is on Robot or Manual mode. Then, Ch1 (blue wire) is set to 0V during the extraction of the Holder. And Ch2 (green wire) is set to 0V during the insertion of the Holder. This seems to be controlled by the sliding panel...

• Set ALLOWTOPICVIEW =

-- NicolasCoudray - 28 Jan 2011