RP6 ROBOT SYSTEM - APPENDIX
New Connectors on the RP6v2
The RP6v2 has several additional connectors compared to the original RP6. Close to
the voltage regulator IC1 there are two 4 pin +5V power connectors, which are ideal
to supply large loads (Servos, LED spots or similar). There is also a 3 pin connector
for +UB (unregulated battery voltage). The pinout is directly printed onto the PCB.
Right next to these connectors you find a 5 pin header for the I2C Bus and supply
voltage. This can be used for small expansions that don't need the full XBUS connect-
or.
On the back of the PCB directly next to the charging connector and the main power
switch is the EXT connector. It can be used to completely bridge the main power
switch. This is useful for expansions like automatic charging stations or for adding
more accumulators to the Robot. If you use this feature you need to turn the main
power switch permanently in to position OFF.
In the front area of the Mainboard directly right and left of
the LEDs there are two 4 pin headers called LIO1 and 2.
Beneath the 5V power supply, they bring out the I/O Pins
that are connected to 4 of the LEDs. (SL1 – IO1, SL2 –
IO2, SL4 – IO4, SL5 – IO5). The other LED pins are
already used for the Bumpers.
As long as the parallel LEDs don't disturb the circuit, you
can use any digital sensor or actor on these ports. For ex-
ample you can use this for additional bumpers, IR Dis-
tance Sensors with fixed threshold or similar.
You have to use minimal 470 Ohm Resistor in series with
the signal to protect the ports of the Microcontroller from
overload (in case you accidently have output<-->output connected together). You
should additionally deactivate the LEDs with the Bootloader to avoid unwanted switch-
ing.
All other connections are optional or have been clearly labelled on the main-
board. Additionally it is a good idea to have a look at the relevant schematics
on the CD!
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