ActivMedia Robotics

 

 

 

 

 

 

 

 

 

 

Lift direction

 

 

 

Inner breakbeam IR

9

ID4

DIGIN bit 4;

 

10

OD4

DIGOUT bit 4;

 

 

 

Left paddle contact

 

 

 

Automated

 

 

 

 

 

 

 

docking/charging

 

 

 

 

 

 

 

“inhibit”

 

11

ID5

DIGIN bit 5;

 

12

OD5

DIGOUT bit 5;

 

 

 

Right paddle

 

 

 

Automated

 

 

 

contact

 

 

 

docking/charging

 

 

 

 

 

 

 

“deploy”

 

13

ID6

DIGIN bit 6;

 

14

OD6

DIGOUT bit 6;

 

 

 

Automated

 

 

 

User only

 

 

 

docking/charging

 

 

 

 

 

 

 

”power good”

 

 

 

 

 

15

ID7

DIGIN bit 7;

 

16

OD7

DIGOUT bit 7;

 

 

 

Automated

 

 

 

User only

 

 

 

docking/charging

 

 

 

 

 

 

 

”overcharge”

 

 

 

 

 

17

*AN0

A/D port 0

 

18

Vcc

5VDC < 1A

 

 

 

(default)

 

 

 

 

 

 

 

(0-5VDC = 0-255)

 

 

 

 

 

19

Vpp

Battery 12VDC < 1A

 

20

Gnd

Signal/power common

 

 

 

 

 

 

 

 

 

The Expansion I/O Bus

A 40-pin high-density IDC socket on the H8S microcontroller provides a general- purpose connector for future I/O expansion. Digital lines, including 8-bit bus address, data, read/write, and other general-purpose ones, are buffered with inputs pulled high. Indicated ports (*) appear on other connectors.

Table 23. General-purpose I/O and data bus (40-pos high-density IDC)

PIN

SIGNAL

DESCRIPTION

 

PIN

SIGNAL

DESCRIPTION

1

AD0

Address bit 0

 

2

D7

Data bit 7

3

AD1

Address bit 1

 

4

D6

Data bit 6

5

AD2

Address bit 2

 

6

D5

Data bit 5

7

AD3

Address bit 3

 

8

D4

Data bit 4

9

AD4

Address bit 4

 

10

D3

Data bit 3

11

AD5

Address bit 5

 

12

D2

Data bit 2

13

ID6

Address bit 6

 

14

D1

Data bit 1

15

ID7

Address bit 7

 

16

D0

Data bit 0

17

AN6

A/D port 6;

 

18

CS4

Chip select 4

 

 

gyro temp

 

 

 

 

19

AN5

A/D port 5;

 

20

CS3

Chip select 3

 

 

gyro rate

 

 

 

 

21

*AN4

A/D port 4;

 

22

CS2

Chip select 2

 

 

Joystick Y

 

 

 

 

23

*AN3

A/D port 3;

 

24

WR

Data write

 

 

Joystick X

 

 

 

 

25

AN2

A/D port 2

 

26

RD

Data read

27

AN1

A/D port 1

 

28

CS6

Chip select 6 or digital I/O

29

*AN0

A/D port 0

 

30

CS7

Chip select 6 or digital I/O

31

GND

Signal common

 

32

RST

Controller reset

33

GND

Signal common

 

34

P1.1

Digital I/O

35

GND

Signal common

 

36

Vcc

Controller 5VDC (<200ma)

37

GND

Signal common

 

38

Vcc

Controller 5VDC (<200ma)

39

GND

Signal common

 

40

Vpp

Battery 12VDC (<0.5A)

 

 

 

 

 

 

 

67

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Image 73
Pioneer 2TM, 3TM manual OD7, Expansion I/O Bus