Pioneer 2TM, 3TM manual OD7, Expansion I/O Bus

					ActivMedia Robotics
		Lift direction			Inner breakbeam IR
9	ID4	DIGIN bit 4;	10	OD4	DIGOUT bit 4;
		Left paddle contact			Automated
					docking/charging
					“inhibit”
11	ID5	DIGIN bit 5;	12	OD5	DIGOUT bit 5;
		Right paddle			Automated
		contact			docking/charging
					“deploy”
13	ID6	DIGIN bit 6;	14	OD6	DIGOUT bit 6;
		Automated			User only
		docking/charging
		”power good”
15	ID7	DIGIN bit 7;	16	OD7	DIGOUT bit 7;
		Automated			User only
		docking/charging
		”overcharge”
17	*AN0	A/D port 0	18	Vcc	5VDC < 1A
		(default)
		(0-5VDC = 0-255)
19	Vpp	Battery 12VDC < 1A	20	Gnd	Signal/power common

The Expansion I/O Bus

A 40-pin high-density IDC socket on the H8S microcontroller provides a general- purpose connector for future I/O expansion. Digital lines, including 8-bit bus address, data, read/write, and other general-purpose ones, are buffered with inputs pulled high. Indicated ports (*) appear on other connectors.

Table 23. General-purpose I/O and data bus (40-pos high-density IDC)

PIN	SIGNAL	DESCRIPTION	PIN	SIGNAL	DESCRIPTION
1	AD0	Address bit 0	2	D7	Data bit 7
3	AD1	Address bit 1	4	D6	Data bit 6
5	AD2	Address bit 2	6	D5	Data bit 5
7	AD3	Address bit 3	8	D4	Data bit 4
9	AD4	Address bit 4	10	D3	Data bit 3
11	AD5	Address bit 5	12	D2	Data bit 2
13	ID6	Address bit 6	14	D1	Data bit 1
15	ID7	Address bit 7	16	D0	Data bit 0
17	AN6	A/D port 6;	18	CS4	Chip select 4
		gyro temp
19	AN5	A/D port 5;	20	CS3	Chip select 3
		gyro rate
21	*AN4	A/D port 4;	22	CS2	Chip select 2
		Joystick Y
23	*AN3	A/D port 3;	24	WR	Data write
		Joystick X
25	AN2	A/D port 2	26	RD	Data read
27	AN1	A/D port 1	28	CS6	Chip select 6 or digital I/O
29	*AN0	A/D port 0	30	CS7	Chip select 6 or digital I/O
31	GND	Signal common	32	RST	Controller reset
33	GND	Signal common	34	P1.1	Digital I/O
35	GND	Signal common	36	Vcc	Controller 5VDC (<200ma)
37	GND	Signal common	38	Vcc	Controller 5VDC (<200ma)
39	GND	Signal common	40	Vpp	Battery 12VDC (<0.5A)

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