Pioneer 3TM, 2TM manual Serial Ports, User I/O, Gripper, Docking/Charging Port

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Appendix A: Ports and Connections

Serial Ports

Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxiliary serial ports for the H8S controller. All are RS-232 compatible. The HOST port is shared on both the User Control Panel as well as on the H8S controller board and is for AROS client- server and maintenance connections.26 The internal HOST serial connector also has signal lines for detecting an attached device (DTR pin 4) and for notifying the attached PC of low-power condition (HRNG pin 9). The HOST serial connectors are wired DCE for direct connection (straight-through cable, not NULL-modem) to a standard PC serial port or to a radio modem set to DTE mode. See the nearby Tables for details.

The AUX1 and AUX2 serial ports are for RS232-compatible serial device connections, such as for the TCM2 Modules or any of several pan-tilt-zoom robotic systems.

AROS operates the serial ports at any of the common data rates: 9,600, 19,200, 38,400, 57,800, or 115,200 bits per second; and at eight data bits, one stop bit, no parity or hardware handshaking.

Table 20. HOST serial ports on H8S board and on User Control (*) (DSUB-9 socket)

PIN

SIGNAL

DESCRIPTION

 

PIN

SIGNAL

DESCRIPTION

1

nc

 

 

2

*TXD

output

3

*RCV

Input

 

4

DTR

Input detects attached device and

 

 

 

 

 

 

switches TxD and RxD into the uC

5

*GND

Common

 

6

*DSR

Output when controller powered

7

nc

May be jumpered to pin 8

 

8

nc

Jumper to pin 7 for radio modem

 

 

 

 

 

 

handshaking

9

RI

Output lowered to signal

 

 

 

 

 

 

PC shutdown

 

 

 

 

Shared on Motors interface

Table 21. AUX1 and AUX2 serial ports (5-pos microfit sockets)

PIN

SIGNAL

DESCRIPTION

 

PIN

SIGNAL

DESCRIPTION

1

DTR

Input

 

2

TXD

output

3

RCV

Input

 

4

DSR

output

5

GND

common

 

 

 

 

User I/O, Gripper, Docking/Charging Port

A 20-pin latching IDC socket on the H8S microcontroller provides the digital, analog, and power ports for user connections and for the Gripper and automated docking/charging accessories, if installed. Indicated ports (*) are shared on other connectors. Digital inputs are buffered and pulled high (digital 1); outputs are buffered and normally low (digital 0).

Table 22. User I/O – Gripper (20-pos latching IDC)

 

PIN

SIGNAL

DESCRIPTION

 

PIN

SIGNAL

DESCRIPTION

1

OD0

DIGOUT bit 0;

 

2

ID0

DIGIN bit 0;

 

 

 

Gripper enable

 

 

 

Paddles open limit

3

OD1

DIGOUT bit 1;

 

4

ID1

DIGIN bit 1;

 

 

 

Gripper direction

 

 

 

Lift limit

5

OD2

DIGOUT bit 2;

 

6

ID2

DIGIN bit 2;

 

 

 

Lift enable

 

 

 

Outer breakbeam IR

7

OD3

DIGOUT bit 3;

 

8

ID3

DIGIN bit 3;

 

 

 

 

 

 

 

 

 

26Unlike with earlier P2 controllers, HOST does not interfere with the User Control Panel serial connections if its attached device—PC or radio modem—is OFF.

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Introduction Robot PackageBasic Components all shipments Optional Components and Attachments partial listUser-Supplied Components / System Requirements Additional ResourcesSupport Website NewsgroupsSupport Support@activmedia.comWhat Is Pioneer? Pioneer Reference PlatformPlus MOTOR-POWER Board Hitachi H8S-BASED MicrocontrollerClient Software Http//robots.activmedia.comSupporting Software Pioneer LegacyPioneer 1 and AT Pioneer 2 and PeopleBotActivMedia Robotics Server Mode Maintenance and Standalone ModesModes of Operation Joydrive and Self Test ModesSpecifications & Controls Physical CharacteristicsMain Components Motor Stop ButtonUser Control Panel P3-DX User Control PanelBody, Nose, and Accessory Panels Sonar Arrays with Gain AdjustmentBatteries and Power Motors, Wheels, and Position EncodersBattery Indicators and Low Voltage Conditions RechargingManual Operation Robot Power OFF Manual Operation Robot Power and Systems onDOCKING/CHARGING System Radio Controls and Accessories Client-server connection optionsOnboard PC Computer Control PanelOperating the Onboard PC PC NetworkingUPS and Genpowerd Safety Aros Watchdogs Preparative Assembly Install AriaQuick Start Install Batteries Client-Server CommunicationsStarting UP Client and Server Drive Self-TestDemo Startup Options IpthruSuccessful Connection Operating the Aria Demonstration ClientDisconnecting Quickstart TroubleshootingProper Connections OFF SRIsimJoydrive Mode Joydrive and Self-TestsEngaging SELF-TESTS ActivMedia Robotics Operating System CLIENT-SERVER Communication Packet ProtocolsPacket Errors Packet ChecksumServer Information Packets Multiply by DistConvFactor‡Client Commands Before Client ConnectionP2OS CLIENT-SERVER Connection Autoconfiguration SYNC2 Opening the Servers-OPENKeeping the Beat-PULSE Closing the Connection-CLOSEMotion Commands RotationActivMedia Robots in Motion Platform Dependent and Independent VariablesPID Controls Internal coordinate systemEnable/Disabling Sonar Position IntegrationSonar Polling Sequence and RateStalls and Emergencies 11-15 ReservedAccessory Commands and Packets Packet ProcessingCONFIGpac and Config Command Serial Port CommunicationsChanging Baud Rates and Autobauding HOST-to-AUX Serial Transfers Encoder PacketsGripper packets Sounds TCM2Onboard PC Heading Correction GyroInput Output I/O User I/OBumper and IR I/O IO packetsExpansion I/O DOCKING/CHARGING System I/ODigital Port Controls Docking/Charging ServersMonitoring the Recharge Cycle Charge State Overcharge ~Volts Charge current ID7ActivMedia Robotics Operating System Updating & Reconfiguring Aros Where to GET Aros SoftwareAros Maintenance Mode Simple Aros UpdatesUpdating and Reconfiguring Aros Starting AroscfConfiguring Aros Operating Parameters Interactive CommandsChanging Parameters Save Your Work PID ParametersKeyword Ticksmm and Revcount 0056 0057 0060 0034Stallval and Stallcount BumpersUpdating and Reconfiguring Aros Maintenance & Repair Tire InflationDrive Lubrication BatteriesAlternative Battery Chargers Automated Docking/Charging SystemTightening the AT Drive Belt Getting Inside Removing the NoseOpening the Deck Factory RepairsPower Connector Appendix aH8S Ports & Connections H8S MicrocontrollerSerial Ports User I/O, Gripper, Docking/Charging PortOD7 Expansion I/O BusBumper Ports Motors, Encoders, and IR SensorsUser Control Interface Joystick Port Pioneer 3 and 2-PLUS MOTOR-POWER Board Configuration for Current and Temperature SensingAppendix B Controller Power and Interface Radio, Auxiliary, and User Power ConnectorsIR Signal and Power GNDRadio Modem Settings Appendix CSerial Ethernet Settings Console modeAppendix D Webpage Peer-to-Peer NetworkingSpecifications Appendix EControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603