Pioneer 2 User Manual
Page 5

Pioneer Mobile Robots
v
C
ALIBRATION
T
OOLS
-
REVCOUNTCAL AND COMPASSCAL
..................................................................... 43
MAINTENANCE & REPAIR.............................................................................................................. 45
D
RIVE
L
UBRICATION
........................................................................................................................... 45
P
IONEER
B
ATTERIES
............................................................................................................................ 45
Changing Batteries (DX and AT)..................................................................................................... 45
Hot-Swapping the Batteries (DX and AT) ........................................................................................ 45
Charging the Battery....................................................................................................................... 45
Alternative Battery Chargers........................................................................................................... 45
G
ETTING
I
NSIDE
.................................................................................................................................. 46
Onboard Computer ......................................................................................................................... 46
Top Plate ........................................................................................................................................ 46
F
ACTORY
R
EPAIRS
.............................................................................................................................. 47
APPENDIX A (C166 CONTROLLER PORTS AND CONNECTIONS) ........................................... 48
C
ONSOLE
S
ERIAL
P
ORT
....................................................................................................................... 48
I
NTERNAL
S
ERIAL
C
ONNECTORS
.......................................................................................................... 49
U
SER
I/O E
XPANSION
P
ORT
................................................................................................................. 49
T
HE
G
ENERAL
I/O B
US
........................................................................................................................ 50
APPENDIX B (MOTOR-POWER BOARD CONNECTORS) ........................................................... 52
U
SER
P
OWER
C
ONNECTIONS
................................................................................................................ 52
O
NBOARD
C
OMPUTER
O
PTION
............................................................................................................. 53
Power Switch (J7) and Delayed Shutdown Logic ............................................................................ 53
Power-State Logic........................................................................................................................... 53
Computer Power ............................................................................................................................. 53
APPENDIX C (SAPHIRA PARAMETER FILES) ............................................................................. 54
APPENDIX D (JOYSTICK CONNECTOR)....................................................................................... 56
APPENDIX E (SPECIFICATIONS).................................................................................................... 57
INDEX .................................................................................................................................................. 60
WARRANTY & LIABILITIES ........................................................................................................... 63