Pioneer 2 - Manual (Page 55)

Pioneer Mobile Robots
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Table A-1. Common serial cable connections to Pioneer 2
Platform & Connector Pin 3 (Tx) Pin 5 (Rx) Pin 9 (Gnd)
Sun Sparcstation DB-25 3 2 7
SGI Irix mini-DIN 8 5 3 4
PC COMn: DB-9 2 3 5
PC COMn: DB-25 3 2 7
Macintosh mini-DIN 8 3 5 4
The Pioneer 2 operates at the following configuration: 9,600, 19,200 or 38,400 bits per second data rate;
eight data bits; one stop bit; no parity or hardware handshaking (DTR).
Internal Serial Connectors
Two 10-pin serial port connectors on the Pioneer 2 microcontroller support independent RS-232 serial
communications. The ports also contain switched (RADIO on the Console) five and 12 volts DC power
(maximum available 0.75A or 2.25A, depending on Pioneer 2 configuration) for accessory connections,
such as a radio modem, radio Ethernet, and the Pioneer electronic compass (Table A-2).
The “host” serial port (connector JP8) is the serial port used by the Pioneer 2 microcontroller for client
communications. It shares its transmit (TxD1) and receive (RxD1) lines with the external serial port on the
Console. The P2OS connector also has three data lines (P3_12, _14, and _15) that are used by the Pioneer
compass.
Table A-2. P2OS Internal Serial Port Connections ("host" JP8)
Pin # Connection Pin # Connection
1 Gnd 2 P3_12
3 TxD1 4 12 VDC (switched)
5 RxD1 6 Gnd
7 P3_15 8 P3_14
9 Gnd 10 5 VDC (switched)
The auxiliary RS232-compatible serial port (connector JP7) on the Pioneer 2 microcontroller operates
independently from the host serial port and is for accessory attachments, such as the PTZ Robotic Camera.
Note the additional power connections.
Table A-3. Auxiliary Internal Serial Port Connections ("aux" JP7)
Pin # Connection Pin # Connection
1 Gnd 2 12 VDC (switched)
3 TxD2 4 12 VDC (switched)
5 RxD2 6 Gnd
7 No connection 8 5 VDC (switched)
9 Gnd 10 5 VDC (switched)
User I/O Expansion Port
A 20-pin IDC socket on the Pioneer 2 microcontroller provides these digital, analog, and power ports for
user connections (Table A-4):
Ÿ 8 general-purpose digital input and output ports (ID/OD0-7)
Ÿ 5 analog-to-digital input ports (AD1-5)
Ÿ 4 Pulse-width-modulation ports (PWM1-4)
Ÿ 1 signal ground (Gnd)
Ÿ 1 Vcc (+5 VDC)
Ÿ 1 Vpp (+12 VDC)