ActivMedia Robotics Pioneer Gripper, Manual, Page: 21 / 23

Pioneer Gripper
Figure 8. Location of the User I/O-Gripper port on the C166-/P2OS-based original
Pioneer 2 controller board.
Table 6. User I/O-Gripper signals
PIN SIGNAL DESCRIPTION
PIN
SIGNAL DESCRIPTION
1
OD0 OD0;
Gripper enable
2
ID0 ID0;
Paddles open limit
3
OD1 OD1;
Gripper direction
4
ID1 ID1;
Lift limit
5 OD2 OD2;
Lift enable
6 ID2 ID2;
Outer breakbeam IR
7
OD3 OD3;
Lift direction
8
ID3 ID3;
Inner breakbeam IR
9
ID4 ID4;
Left paddle contact
10
OD4 OD4;
Not used by Gripper
11
ID5 ID5;
Right paddle contact
12
OD5 OD5;
Not used by Gripper
13
ID6 ID6;
Not used by Gripper
14
OD6 OD6;
Not used by Gripper
15 ID7 ID7;
Not used by Gripper
16 OD7 OD7;
Not used by Gripper
17
*AN0 A/D port 0 (default)
(0-5VDC = 0-255)
18
Vcc 5VDC < 1A
19
Vpp Battery 12VDC < 1A
20
Gnd Signal/power common
17