Appendix b, User power connections, Onboard computer option – Pioneer 2 / PeopleBot User Manual

Page 69: Power switch (j7) and delayed shutdown logic, Ower, Onnections, Nboard, Omputer, Ption, Ee appendix b

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ActivMedia Robotics

Appendix B

Motor-Power Board

The Pioneer 2 and PeopleBot robots have a separate Motor-Power board which, in

conjunction with the microcontroller, provides power for motors as well as conditioned
power for the standard and accessory onboard electronics. It also contains buffered

pass-through connectors for the motor encoders. An optional power package
("computer ready") is available for the onboard computer system.

Figure 29. Pioneer 2 Motor-Power Board

User Power Connections

Table 23. User Power Connector J1

Pin #

Connection

Pin #

Connection

1

Vcc

7

Vcc

2

Gnd

8

Gnd

3

Vpp

9

Vpp

4

Vcc

10

Vcc

5

Gnd

11

Gnd

6

Vpp

12

Vpp

On the Motor-Power board, four sets of
unswitched battery (Vpp) and DC:DC-

conditioned 5 VDC (Vcc) power, with

power ground (Vpp), are available for
accessory and custom electronics on a

12-pin Molex-type latch-lock (100mm)

connector. Vcc gets shared with the
microcontroller and accessories con-

nected to that board (Appendix A).

The maximum Vcc power available
with standard robot models is 1.5A.

Onboard Computer Option

With the "computer-ready" option, the Motor-Power board is specially populated with

connectors and circuits to provide separate DC:DC conditioned, 7A @ 5 VDC power to
an onboard computer and its accessories. And, in conjunction with software, the circuit

provides for automatic, unattended, crash-less shutdown of the onboard computer,

either when manually powered down or when the battery voltage drops below 10 VDC.

Power Switch (J7) and Delayed Shutdown Logic

A simple SPDT switch controls logical power to the computer-power section of the Motor-
Power board. When ON, the switch provides Vpp to the input of a voltage comparator

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