Appendix B
Chapter 7
U
SER
I/O-G
RIPPER
P
ORT
Note that all the internal connectors on the robot’s controller and the Gripper signal
connector (IDC sockets) are numbered odd pins on top and even pins on the bottom,
from right to left, relative to the key
:
13 11 9 7 5 3 1
14 12 10 8 6 4 2
Figure 6. Location of the User I/O-Gripper port on the SH2-/ARCOS-based Pioneer 3
controller.
Figure 7. Location of the User I/O-Gripper port on the H8S/AROS-based Pioneer 2-H8 and
original Pioneer 3 controller board.
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