Pioneer 2 - Manual (Page 5)

Pioneer Mobile Robots
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C ALIBRATION T OOLS - REVCOUNTCAL AND COMPASSCAL ..................................................................... 43
MAINTENANCE & REPAIR.............................................................................................................. 45
D RIVE L UBRICATION ........................................................................................................................... 45
P IONEER B ATTERIES ............................................................................................................................ 45
Changing Batteries (DX and AT)..................................................................................................... 45
Hot-Swapping the Batteries (DX and AT) ........................................................................................ 45
Charging the Battery....................................................................................................................... 45
Alternative Battery Chargers........................................................................................................... 45
G ETTING I NSIDE .................................................................................................................................. 46
Onboard Computer ......................................................................................................................... 46
Top Plate ........................................................................................................................................ 46
F ACTORY R EPAIRS .............................................................................................................................. 47
APPENDIX A (C166 CONTROLLER PORTS AND CONNECTIONS) ........................................... 48
C ONSOLE S ERIAL P ORT ....................................................................................................................... 48
I NTERNAL S ERIAL C ONNECTORS .......................................................................................................... 49
U SER I/O E XPANSION P ORT ................................................................................................................. 49
T HE G ENERAL I/O B US ........................................................................................................................ 50
APPENDIX B (MOTOR-POWER BOARD CONNECTORS) ........................................................... 52
U SER P OWER C ONNECTIONS ................................................................................................................ 52
O NBOARD C OMPUTER O PTION ............................................................................................................. 53
Power Switch (J7) and Delayed Shutdown Logic ............................................................................ 53
Power-State Logic........................................................................................................................... 53
Computer Power ............................................................................................................................. 53
APPENDIX C (SAPHIRA PARAMETER FILES) ............................................................................. 54
APPENDIX D (JOYSTICK CONNECTOR)....................................................................................... 56
APPENDIX E (SPECIFICATIONS).................................................................................................... 57
INDEX .................................................................................................................................................. 60
WARRANTY & LIABILITIES ........................................................................................................... 63