Pioneer 3TM, 2TM manual Serial Ports, User I/O, Gripper, Docking/Charging Port

Appendix A: Ports and Connections

Serial Ports

Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxiliary serial ports for the H8S controller. All are RS-232 compatible. The HOST port is shared on both the User Control Panel as well as on the H8S controller board and is for AROS client- server and maintenance connections.26 The internal HOST serial connector also has signal lines for detecting an attached device (DTR pin 4) and for notifying the attached PC of low-power condition (HRNG pin 9). The HOST serial connectors are wired DCE for direct connection (straight-through cable, not NULL-modem) to a standard PC serial port or to a radio modem set to DTE mode. See the nearby Tables for details.

The AUX1 and AUX2 serial ports are for RS232-compatible serial device connections, such as for the TCM2 Modules or any of several pan-tilt-zoom robotic systems.

AROS operates the serial ports at any of the common data rates: 9,600, 19,200, 38,400, 57,800, or 115,200 bits per second; and at eight data bits, one stop bit, no parity or hardware handshaking.

Table 20. HOST serial ports on H8S board and on User Control (*) (DSUB-9 socket)

PIN	SIGNAL	DESCRIPTION	PIN	SIGNAL	DESCRIPTION
1	nc		2	*TXD	output
3	*RCV	Input	4	DTR	Input detects attached device and
					switches TxD and RxD into the uC
5	*GND	Common	6	*DSR	Output when controller powered
7	nc	May be jumpered to pin 8	8	nc	Jumper to pin 7 for radio modem
					handshaking
9	†RI	Output lowered to signal
		PC shutdown

†Shared on Motors interface

Table 21. AUX1 and AUX2 serial ports (5-pos microfit sockets)

PIN	SIGNAL	DESCRIPTION	PIN	SIGNAL	DESCRIPTION
1	DTR	Input	2	TXD	output
3	RCV	Input	4	DSR	output
5	GND	common

User I/O, Gripper, Docking/Charging Port

A 20-pin latching IDC socket on the H8S microcontroller provides the digital, analog, and power ports for user connections and for the Gripper and automated docking/charging accessories, if installed. Indicated ports (*) are shared on other connectors. Digital inputs are buffered and pulled high (digital 1); outputs are buffered and normally low (digital 0).

Table 22. User I/O – Gripper (20-pos latching IDC)

	PIN	SIGNAL	DESCRIPTION	PIN	SIGNAL	DESCRIPTION
1		OD0	DIGOUT bit 0;	2	ID0	DIGIN bit 0;
			Gripper enable			Paddles open limit
3		OD1	DIGOUT bit 1;	4	ID1	DIGIN bit 1;
			Gripper direction			Lift limit
5		OD2	DIGOUT bit 2;	6	ID2	DIGIN bit 2;
			Lift enable			Outer breakbeam IR
7		OD3	DIGOUT bit 3;	8	ID3	DIGIN bit 3;

26Unlike with earlier P2 controllers, HOST does not interfere with the User Control Panel serial connections if its attached device—PC or radio modem—is OFF.

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