Adept MobileRobots Pioneer 3, Руководство по эксплуатации

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Appendix B: Motor-Power Distribution Board
64
Motors, Encoders Table 25. “tilt/roll” connector
P
IN
S
IGNAL
D
ESCRIPTION
P
IN
S
IGNAL
D
ESCRIPTION
1 nc
2
VCC 5 VDC power
3 AN4 AN4 4 AN5 AN5
5 AGND AN signal
ground
6 GND Power ground
Motors, Encoders and IRs
A 26-position latching IDC connector on the microcontroller connects the Microcontroller to the Motor-Power Board (see
Appendix B). Line descriptions also can be found in the following Motor-Power Interface section.
Table 26. Motors, encoders, and IRs interface (26-pos latching IDC)
P
IN
S
IGNAL
D
ESCRIPTION
P
IN
S
IGNAL
D
ESCRIPTION
1 LPWM Left motors PWM 2 LDIR Left motors direction
3 RPWM Right motors PWM 4 RDIR Right motors direction
5 MEN Motors enable 6 LEA Left encoder channel A
7 E-STOP E-Stop detect input 8 REA Right encoder channel A
9 RPWR Aux1 power enable 10 REB Right encoder channel B
11 APWR Aux2 power enable 12 LEB Left encoder channel B
13 CHRG Charge port detect 14 IR6 IR input bit 6
15 IR7 IR input bit 7 16 IR4 IR input bit 4
17 IR5 IR input bit 5 18 IR2 IR input bit 2
19 IR3 IR input bit 3 20 IR0 IR input bit 0
21 IR1 IR input bit 1 22 VBAT Battery voltage
23 Gnd Signal common 24 AN1* Analog input
25 Gnd Signal common 26 AN2* Analog input
* Board versions C and earlier pin 24 HOST RI and pin 26 ground.
Joystick
An 8-position microfit socket provides signal lines for connection to the inductive joystick accessory. Indicated lines (*)
are shared on other connectors.
NOTE: AN0 input is also present on the user IO connector.
Table 27. Joystick connector (8-pos microfit)
pin signal description pin signal description
1 Vcc 5 VDC
2
FB0 Fire button 0
3 AN2 Turn Y-axis 4 AGND Analog common
5 AN1 Translate X-
axis
6 FB1 Fire button 1