Pioneer 3TM, 2TM manual IR Signal and Power, Gnd

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Appendix B: Motor-Power Board Connectors

Table 32. User Power connector (12-pos latchlock; unswitched)

PIN	CONNECTION		PIN	CONNECTION
1	Vcc		7	Vcc
2	Gnd		8	Gnd
3	Vpp		9	Vpp
4	Vcc		10	Vcc
5	Gnd		11	Gnd
6	Vpp		12	Vpp

IR Signal and Power

Originally available on the Motor-Power Interface Board and now integrated on the new Motor-Power board, four connectors provide power and signal for fixed-range IR sensors. A separate connector provides signal path for an additional four IR sensors.

Table 33. IR power and signal connectors (3-pos microfits)

PIN SIGNAL DESCRIPTION

		1			Vpp		Battery 12 VDC
			2		IRn		Switching signal
			3		Gnd		Power/signal ground
Table 34. Additional IR connector (8-pos latchlock 0.1 header)

			PIN		SIGNAL		DESCRIPTION

			1-4		IR4-7		IR signals
			5-8		GND		Signal common
LEGACY MOTOR-POWER
The legacy Motor-Power
system is a two-board set that
connects the H8S controller’s
control signals to the original
P2 Motor-Power board, and
provides	connections for
switched	radio		and		auxiliary
power, power			and		digital
inputs for IRs, charge-
detection		port,			and
emergency stop detector.
See the H8S-controller board
in Appendix A for interface							Figure 27. The Original P2 Motor-Power Board
connection specifications.							Figure 27. The Original P2 Motor-Power Board

Figure 28. Motor-Power interface board

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Basic Components all shipments IntroductionRobot Package Optional Components and Attachments partial listSupport Website User-Supplied Components / System RequirementsAdditional Resources 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 Modes of Operation Server ModeMaintenance and Standalone Modes 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 Starting UP Client and Server Install BatteriesClient-Server Communications 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 Keeping the Beat-PULSE Autoconfiguration SYNC2Opening the Servers-OPEN Closing the Connection-CLOSEMotion Commands RotationActivMedia Robots in Motion Platform Dependent and Independent VariablesPID Controls Internal coordinate systemSonar Enable/Disabling SonarPosition Integration 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 packetsDigital Port Controls Expansion I/ODOCKING/CHARGING System I/O Docking/Charging ServersMonitoring the Recharge Cycle Charge State Overcharge ~Volts Charge current ID7ActivMedia Robotics Operating System Aros Maintenance Mode Updating & Reconfiguring ArosWhere to GET Aros Software 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 Drive Lubrication Maintenance & RepairTire Inflation BatteriesAlternative Battery Chargers Automated Docking/Charging SystemTightening the AT Drive Belt Getting Inside Removing the NoseOpening the Deck Factory RepairsH8S Ports & Connections Power ConnectorAppendix a 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