Appendix B: Motor-Power Board Connectors
Appendix B
Power Distribution
ActivMedia Robotics’ original H8S-based Pioneer 2 robots have two separate boards which interface with the H8S microcontroller and provide power for the motors as well as conditioned power and signal paths for the standard and accessory onboard electronics. The new Plus-series Pioneer 2 robots and the Pioneer 3s have just a single Motor-Power Board. Consult Appendix A for H8S-controller and User Control Panel interface details.
PIONEER 3 AND 2-PLUS MOTOR-POWER BOARD
The new Motor-Power Board for the Pioneer 2-AT8 Plus, –DX8 Plus, and all Pioneer 3 robots contains all the features of the two-board legacy system and lots more.
Figure 26. New Pioneer Motor-Power Board
Configuration for Current and Temperature Sensing
The motor drivers are configured to limit 10A per motor, and to share the drivers with both motors on each side of the AT. Accordingly, there are two additional motor-current sense resistors added to the AT versus DX board: R3 and R26, as well as R1 and R2.
The new Motor-Power board also has a set of 0-ohm resistor pads that may be configured to engage the analog-to-digital input ports AN1 and AN2. By adding jumpers to R60 and R62, for example, the board is configured to sense motor current draw on AN1 and AN2, respectively.
Instead, by jumpering R77 and R78 and by attaching temperature sensors to two motors via the Motor Temperature Sensors connector, the AN1 and AN2 ports respectively may be used to protect against motor overheating. This configuration is currently enabled in the new ATs, but not yet supported in AROS.