Pioneer 2TM - Manual (Page 72)

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