Activity 3.3.4a Lynxmotion to Lynxmotion
Handshaking (VEX®)
Introduction
A typical industrial practice is for separate control systems to communicate through a
process known as handshaking. This communication process in its simplest form
consists of an exchange of ones and zeros data bits. Each control system either sends
a signal for a process to start or stop or waits for a signal to do the same.
In this activity you will work with another team to program two separate control systems
to communicate. The control systems will be two Lynxmotion robotic arm SSC-32
controllers.
Communication Overview
1. Robot 1 picks up an object from point A and places it at point B.
2. Robot 1 returns to a safe position.
3. Robot 1 sends a signal to Robot 2 that the object is at point B.
4. Robot 2 receives the signal and then picks up the object at point B.
5. Robot 2 places the object at point C and then returns to a safe position.
Equipment
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2 Computers with FlowArm PLTW software installed.
2 Lynxmotion robotic arms with SSC-32 controllers
Wiring schematic for interface-specific components
Object to be moved
© 2013 Project Lead The Way, Inc.
Computer Integrated Manufacturing Activity 3.3.4a Lynx to Lynx Handshaking (VEX) – Page 1
Procedure
1. Sketch the basic hardware configuration to be used in this communication
process.
2. Sketch the pseudocode or flowchart to complete the communication process for
this activity.
Going Beyond
As directed by your teacher complete the following challenge.
a. Program the two arms to hand off the object without contacting any other
surface. Note: The second robot must signal the first robot after its gripper is
closed on the object.
b. Program the communication in the step above to occur when a switch on the
first robot is depressed.
Conclusion
1. Attach a completed copy of the FlowArm PLTW worksheet used to complete the
handshaking operation for both robots.
2. Describe how an optical isolator works and why it is needed in this handshaking
application.
© 2013 Project Lead The Way, Inc.
Computer Integrated Manufacturing Activity 3.3.4a Lynx to Lynx Handshaking (VEX) – Page 2