Pioneer 2 / PeopleBot manual Appendix a, C166 Controller Ports & Connections

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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