Activ
Media Robotics
Lift enable
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;
Not used by Gripper
11
ID5
DIGIN bit 5;
Right paddle
contact
12
OD5
DIGOUT bit 5;
Not used by Gripper
13
ID6
DIGIN bit 6;
Not used by Gripper
14
OD6
DIGOUT bit 6;
Not used by Gripper
15
ID7
DIGIN bit 7;
Not used by Gripper
16
OD7
DIGOUT bit 7;
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
The Expansion I/O Bus
A 40-pin high-density IDC socket on the H8S microcontroller provides a general-purpose
connector for future I/O expansion. Digital lines, including 8-bit bus address, data,
read/write, and other general-purpose ones, are buffered with inputs pulled high.
Indicated ports (*) appear on other connectors.
Table 22. General-purpose I/O and data bus (40-pos high-density IDC)
PIN
SIGNAL
DESCRIPTION
PIN
SIGNAL
DESCRIPTION
1
AD0 Address bit 0
2
D7
Data bit 7
3
AD1 Address bit 1
4
D6
Data bit 6
5
AD2 Address bit 2
6
D5
Data bit 5
7
AD3 Address bit 3
8
D4
Data bit 4
9
AD4 Address bit 4
10
D3
Data bit 3
11
AD5 Address bit 5
12
D2
Data bit 2
13
ID6 Address bit 6
14
D1
Data bit 1
15
ID7 Address bit 7
16
D0
Data bit 0
17
DAC1 D/A port 1
18
CS4 Chip select 4
19
DAC0 D/A port 0
20
CS3 Chip select 3
21
*AN4 A/D port 4;
Joystick Y
22
CS2 Chip select 2
23
*AN3 A/D port 3;
Joystick X
24
WR Data
write
25
AN2 A/D port 2
26
RD Data
read
27
AN1 A/D port 1
28
CS6 Chip select 6 or digital I/O
29
*AN0 A/D port 0
30
CS7 Chip select 6 or digital I/O
31
GND Signal
common
32
RST Controller
reset
33
GND Signal
common
34
P1.1 Digital
I/O
35
GND Signal
common
36
Vcc Controller 5VDC (<200ma)
37
GND Signal
common
38
Vcc Controller 5VDC (<200ma)
39
GND Signal
common
40
Vpp Battery 12VDC (<0.5A)
Bumper Ports
Two 10-position latching IDC connectors provide general-purpose digital inputs, typically
used for the robot’s bumpers. All inputs are buffered and pulled high (digital 1).
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