Adept MobileRobots Pioneer 3, Operation Manual

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MobileRobots part #CAB1003 (with cable: part #CAB1075)
3M part #89120-0101
www.digikey.com part #MKC20A-ND
www.mouser.com part #517-8920
Table 24. User I/O – Gripper (20-pos latching IDC)
P
IN
S
IGNAL
D
ESCRIPTION
P
IN
S
IGNAL
D
ESCRIPTION
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;
Lift direction
8 ID3 DIGIN bit 3;
Inner breakbeam IR
9 ID4 DIGIN bit 4;
Left paddle contact
10 OD4 DIGOUT bit 4;
“inhibit”
11 ID5 DIGIN bit 5;
Right paddle contact
12 OD5 DIGOUT bit 5;
“deploy”
13 ID6 DIGIN bit 6;
”power good”
14 OD6 DIGOUT bit 6;
User only
15 ID7 DIGIN bit 7;
”overcharge”
16 OD7 DIGOUT bit 7;
User only
17 *AN0 Analog port 0 18 Vcc 5VDC < 1A
19 Vpp Battery 12VDC < 1A 20 Gnd Signal/power common
AN4, AN5 Analog Inputs (formerly tilt/roll)
The former “tilt/roll” connector provides connections for two additional analog I/O inputs, AN4 and AN5, as well as an
extra 5V power connection. These values are available in the IO Packet (see Chapter 6, ARCOS above for details). They
are not used for any purpose by ARCOS itself.