Pioneer 3TM, 2TM manual Bumper Ports, Motors, Encoders, and IR Sensors, User Control Interface

Appendix A: Ports and Connections

Table 24. Bumper ports (10-pos latching IDC)

PIN	SIGNAL	DESCRIPTION	PIN	SIGNAL	DESCRIPTION
1	BP0	Bumper bit 0	2	BP1	Bumper bit 1
3	BP2	Bumper bit 2	4	BP3	Bumper bit 3
5	BP4	Bumper bit 4	6	BP5	Bumper bit 5
7	BP6	Bumper bit 6	8	BP7	Bumper bit 7
9	Gnd	Common	10	Gnd	Common

Bumper Ports

Two 10-position latching IDC connectors provide general-purpose digital inputs, typically used for the robot’s bumpers. All inputs are buffered and pulled high (digital 1).

Motors, Encoders, and IR Sensors

A 26-position latching IDC connector on the H8S microcontroller provides interface through an intermediate board to the Motor-Power Board (Appendix B). Line descriptions also can be found in the following Motor-Power Interface section.

Table 25. Motors, encoders, and IRs interface (26-pos latching IDC)

PIN	SIGNAL	DESCRIPTION	PIN	SIGNAL	DESCRIPTION
1	LPWM	Left motors PWM	2	LDIR	Left motors direction
3	RPWM	Right motors PWM	4	RDIR	Right motors direction
5	MEN	Motors enable	6	LEA	Left encoder channel A
7	E-STOP	E-Stop detect input	8	REA	Right encoder channel A
9	RPWR	Radio power enable	10	REB	Right encoder channel B
11	APWR	Aux power enable	12	LEB	Left encoder channel B
13	CHRG	Charge port detect	14	IR6	IR input bit 6
15	IR7	IR input bit 7	16	IR4	IR input bit 4
17	IR5	IR input bit 5	18	IR2	IR input bit 2
19	IR3	IR input bit 3	20	IR0	IR input bit 0
21	IR1	IR input bit 1	22	VBAT	Battery voltage detect
23	Gnd	Signal common	24	AN1*	Analog input
25	Gnd	Signal common	26	AN2*	Analog input

* Board versions C and earlier pin 24 HOST RI and pin 26 ground.

User Control Interface

A 16-position latching IDC connector provides interface with the User Control Panel board and functions. See description in a following section.

Table 26. User Control Panel interface

PIN	SIGNAL	DESCRIPTION	PIN	SIGNAL	DESCRIPTION
1	Vcc	5 VDC power	2	Vcc	5 VDC power
3	RST	RESET button	4	MOT	MOTORS button
5	RPWR	Radio power switch	6	APWR	Aux power switch
7	CHRG	Charging indicator	8	BZR	Buzzer PWM
9	PLED	Main power	10	SLED	Status
11	Vpp	Battery 12 VDC	12	Gnd	Signal/power common
13	Gnd	Signal/power common	14	HTXD	HOST serial transmit
15	HDSR	HOST serial enabled	16	HRCV	HOST serial receive

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