ActivMedia Robotics
Appendix A C166 Controller Ports & Connections
This Appendix contains pinout and electrical specifications for the external and internal
ports and connectors on the Pioneer 2/PeopleBot microcontroller board. These include
an external (Host) serial port for P2OS-to-client connections; two internal serial ports for
Host and auxiliary (AUX) communications, each with switched five and 12 VDC power;
an expansion bus (General I/O); and a discrete connector for custom User I/O.
Note that all the internal connectors (IDC sockets) are numbered odd pins on top and
even pins on the bottom, from right to left, relative to the key (Figure 27):
13 11 9 7 5 3 1
14 12 10 8 6 4 2
Figure 27. Serial port IDC connector pins
Figure 28. Pioneer 2/PeopleBot microcontroller ports and controls locations
Console Serial Port
Use the Console DSUB-9 serial port connector for client connections to the P2OS servers
and for P2OS downloads. Only three pins are active: RS232-compatible pins 2 (TxD1), 3
(RxD1), and 5 (signal ground).
Table 17 lists the cable connections for various host computers to this external serial port.
Most direct serial connections use a simple, straight-through cable, such as the one for a
common PC. The communication lines are shared with those on the internal P2OS serial
port (see below).
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