Appendix B: Motor-Power Board Connectors

which output controls the computer's DC:DC voltage converter. Designed to provide for crash-less shutdown of the computer in the event of a power brownout or for unattended shutdowns, if Vpp drops below 10 VDC, the comparator automatically initiates a two-minute delay before computer power (not system-wide) shutdown.

Similarly, when the computer power is manually switched OFF, the comparator is grounded (below 10 VDC, of course) and the same two minute-delayed shutdown occurs.

In all cases, power shutdown, but not necessarily computer software shutdown, is canceled if power is restored to above 10 VDC, either by connecting a battery charger or by hot-swapping the batteries.

With older Motor-Power systems, you may disable the two-minute delay circuitry (switched or low-voltage shutdown immediate) by moving the jumpers on both J3 and J6 on the Motor-Power Board to the pins opposite their ON position.

Power-State Logic

A 9-pin DSUB receptacle (P1) on the Motor-Power board provides a logic-level shutdown indicator (DCD pin 1) which state goes low when computer power shutdown is first initiated. The onboard computer may use this line state to initiate software-mediated shutdown, such as provided by genpowerd for RedHat© Linux PCs.

Table 24. Power State 9-pin DSUB receptacle (P1)

1

2

3

4

 

5

6

 

7

8

9

DCD

nc

nc

pin 6

nc

pin 4

nc

nc

Gnd

 

 

 

 

10-

20K adj.

 

 

 

 

 

 

 

 

across 4 & 6

 

 

 

 

Computer Power

Table 25. Computer power connector

Acommon 4-conductor, bevel-keyed connector (J5) provides 5 VDC @ 7A power for the onboard computer, and battery power for the optional 12VDC fan.

Pin #

Connection

1

Vpp

2

Gnd

3

Gnd

4

5VDC @ 7A

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Pioneer 2 / PeopleBot manual Power-State Logic, Computer Power

2 / PeopleBot specifications

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