Controller Power and Interface | Pioneer 2TM, 3TM specification

ActivMedia Robotics

Table 28. Motor Temperature Sensors Connector (4-pos microfit)

PIN	SIGNAL	DESCRIPTION

1	Vcc	5 VDC
2	T2	To AN2-based temp sensor circuit
3	T1	To AN1-based temp sensor circuit
4	GND	Signal/power common

Otherwise, a jumper across R76 connects the AN1 port to the Fan Sensor system that is attached to the FET heat sink. Note, too, that with or without attachment of AN1 via R76, but with the heat sensor in place, a fan may be attached and activated whenever the motor-driver FETs get overheated, as implemented in all new AT systems.

Controller Power and Interface

Individual 26-pos IDC connectors and cables provide signal for the new H8S-based microcontroller or the legacy C166-based microcontrollers. A separate cable and connector provides for the H8S microcontroller and sonar power. Power and signal are shared on the C166 controller connector.

Table 29. H8S Power connector (5-pos microfit)

PIN	SIGNAL	DESCRIPTION

1	Vbat	Battery power
2	Gnd	Power common
3	Vcc	5 VDC for sonar
4	Vcc	5 VDC for sonar
5	nc	No connection

Radio, Auxiliary, and User Power Connectors

Various connectors provide conditioned 5 VDC @ 1.5A total and unconditioned battery power for the variety of accessories and custom user attachments. Some are AUX and RADIO power switched from the User Control Panel. And some are for Use the 12-position latchlock connector for legacy installations. Otherwise, screw-down auxiliary user-power connectors make custom attachments easy. Four-position microfit connectors also provide AUX power for standard accessories.

Table 30. User Control Panel-switched radio power connector (3-pos microfit)

PIN	SIGNAL	DESCRIPTION

1	Vpp	Radio switched battery 12 VDC
2	Gnd	Power common
3	Vcc	Radio switched 5 VDC

Table 31. User Control Panel-switched and unswitched Aux power connectors (4-pos microfits and screw-down terminal blocks)

PIN	SIGNAL	DESCRIPTION

1	Vpp	Aux switched battery 12 VDC
2	Vcc	Aux switched 5 VDC
3	Gnd	Power common
4	Gnd	Power common

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Pioneer 2TM, 3TM manual Controller Power and Interface, Radio, Auxiliary, and User Power Connectors

Contents

Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Robot Package IntroductionBasic Components all shipments Optional Components and Attachments partial list Additional Resources User-Supplied Components / System RequirementsSupport Website Newsgroups Support@activmedia.com Support Pioneer Reference Platform What Is Pioneer? Hitachi H8S-BASED Microcontroller Plus MOTOR-POWER Board Http//robots.activmedia.com Client Software Pioneer Legacy Supporting Software Pioneer 2 and PeopleBot Pioneer 1 and AT ActivMedia Robotics Maintenance and Standalone Modes Server ModeModes of Operation Joydrive and Self Test Modes Physical Characteristics Specifications & Controls Motor Stop Button Main Components P3-DX User Control Panel User Control Panel Sonar Arrays with Gain Adjustment Body, Nose, and Accessory Panels Motors, Wheels, and Position Encoders Batteries and Power Recharging Battery Indicators and Low Voltage Conditions DOCKING/CHARGING System Manual Operation Robot Power OFFManual Operation Robot Power and Systems on Client-server connection options Radio Controls and Accessories Computer Control Panel Onboard PC PC Networking Operating the Onboard PC UPS and Genpowerd Safety Aros Watchdogs Quick Start Preparative AssemblyInstall Aria Client-Server Communications Install BatteriesStarting UP Client and Server Drive Self-Test Ipthru Demo Startup Options Operating the Aria Demonstration Client Successful Connection Proper Connections DisconnectingQuickstart Troubleshooting SRIsim OFF Joydrive and Self-Tests Joydrive Mode Engaging SELF-TESTS CLIENT-SERVER Communication Packet Protocols ActivMedia Robotics Operating System Packet Checksum Packet Errors Multiply by DistConvFactor‡ Server Information Packets Before Client Connection Client Commands P2OS CLIENT-SERVER Connection Opening the Servers-OPEN Autoconfiguration SYNC2Keeping the Beat-PULSE Closing the Connection-CLOSE Rotation Motion Commands Platform Dependent and Independent Variables ActivMedia Robots in Motion Internal coordinate system PID Controls Position Integration Enable/Disabling SonarSonar Polling Sequence and Rate 11-15 Reserved Stalls and Emergencies Packet Processing Accessory Commands and Packets Changing Baud Rates and Autobauding CONFIGpac and Config CommandSerial Port Communications Gripper packets HOST-to-AUX Serial TransfersEncoder Packets TCM2 Sounds Heading Correction Gyro Onboard PC User I/O Input Output I/O IO packets Bumper and IR I/O DOCKING/CHARGING System I/O Expansion I/ODigital Port Controls Docking/Charging Servers Charge State Overcharge ~Volts Charge current ID7 Monitoring the Recharge Cycle ActivMedia Robotics Operating System Where to GET Aros Software Updating & Reconfiguring ArosAros Maintenance Mode Simple Aros Updates Starting Aroscf Updating and Reconfiguring Aros Changing Parameters Configuring Aros Operating ParametersInteractive Commands PID Parameters Save Your Work Keyword 0056 0057 0060 0034 Ticksmm and Revcount Bumpers Stallval and Stallcount Updating and Reconfiguring Aros Tire Inflation Maintenance & RepairDrive Lubrication Batteries Tightening the AT Drive Belt Alternative Battery ChargersAutomated Docking/Charging System Removing the Nose Getting Inside Factory Repairs Opening the Deck Appendix a Power ConnectorH8S Ports & Connections H8S Microcontroller User I/O, Gripper, Docking/Charging Port Serial Ports Expansion I/O Bus OD7 User Control Interface Bumper PortsMotors, Encoders, and IR Sensors Joystick Port Appendix B Pioneer 3 and 2-PLUS MOTOR-POWER BoardConfiguration for Current and Temperature Sensing Radio, Auxiliary, and User Power Connectors Controller Power and Interface GND IR Signal and Power Appendix C Radio Modem Settings Appendix D Serial Ethernet SettingsConsole mode Peer-to-Peer Networking Webpage Appendix E Specifications Controls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603