RP6 ROBOT SYSTEM - APPENDIX
APPENDIX
A – Pin Assignments
This section contains the pin assignments of the main connectors with the I/O ports.
The connector of the serial interface has exactly the same pin assignment as on the
main board. Of course this also applies to the two XBUS connectors.
I/O Ports:
All 10-pin I/O port connectors (and the 10-pin ADC port, see next page) are mostly
pin compatible. This means the 5V power supply and the I/Os are on the same pins
but the additional functions may be on different pins. As far as possible the alternate
functions have been assigned in a similar way e.g.
the two SPI / UART ports are on the same pins.
Most of the PWM and timer/capture channels are
also on the same pins, however the timers them-
selves are different (note: OC0B and OC2A/B are
8 bit timers, the others are 16 bit. OC0A has a
dual assignment with OC1C).
This allows to set up several pin compatible sensor
and actuator PCBs.
CAUTION: Avoid to connect the power supply pins
of another expansion module (e.g. an experiment-
ation module) to the power pins of these connect-
ors. Use the XBUS instead for power supply.
The power supply pins are not designed for direct
operation of high power consumption devices!
Small servo motors are acceptable with additional
filter capacitors (>=100µF). Several bigger servos
must be powered directly from the RP6 main
board, via a separate battery or via a separate 5V
voltage regulator.
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