Seekur Switched Power Outputs
From MobileRobots Research and Academic Customer Support
Seekur and Seekur Jr. contain one or more power distribution boards (PDB) that control power supply to various parts of the robot, including devices such as onboard computers, sensors, etc. Some of these power outputs are normally switched off, and must be switched on by sending a robot command with command number 116, which must be given with two byte arguments. The first byte argument identifies which power output to switch, and the second byte argument is the desired state (1 for on, 0 for off).
For example, to switch on the GPS using Aria, use the following ArRobot method call:
robot.com2Bytes(116, 6, 1);
Or, use the seekurPower program. For example, for the GPS:
seekurPower gps on
Or, use the ID number:
seekurPower 6 on
Or, using Aria's demo program, enter direct command mode by pressing the d key, and enter the command:
116 6 1
SeekurOS also includes some compatibility with ARCOS and uARCS by also recognizing power switch commands used by those robot firmware variants.
The following table lists the identifiers for the switched power outputs, the device typically connected to that output, and the PDB connectors (see below). Note that an individual robot will only have some devices installed, and if a robot has been customized or altered it may not match this table. Refer to the "Seekur Power Distribution Board (PDB) User Connector Pinout Description" table in the Seekur manual or supplementary documentation (aka "PDB Power Command Pinouts" document) and/or contact support for details such as connector names and connector pin numbers, voltages and current supplied, unallocated connectors you can use for your own devices, etc.
Seekur Jr. always only contains one PDB, the Primary PDB -- Seekur Jr. does not contain a Secondary PDB.
Seekur contains a Secondary only if more than two computers, lasers, or pan/tilt units were ordered, or if additional power output was specially requested.
In addition to the PDB outputs listed here, there are additional 24V high amperage sources available elsewhere in the robot. Contact support for more information.
If an optional device is not present, it may be used by your equipment instead.
| Device | Port ID | PDB connector | PDB LED indicator |
|---|---|---|---|
| Onboard Computer #1 | not switchable, on by default | WJ1/WJ2 | WD1/WD2 |
| Onboard Computer #2 | 1 | YJ1/YJ2 | YD1/YD2 |
| Onboard Computer #3 | 13 (Seekur only) | Secondary PDB WJ1/WJ2 | Secondary PDB WD1/WD2 |
| Onboard Computer #4 | 14 (Seekur only) | Secordary PDB XJ1/XJ2 | Secondary PDB XD1/XD2 |
| Onboard Computer #5 | 15 (Seekur only) | Secondary PDB YJ1/YJ2 | Secondary PDB YD1/YD2 |
| Power-over-Ethernet 12V * | 4 (on by default) | ZJ11 pin 1 | KD1 |
| Ethernet LAN switch (used by onboard computers, LMS-111, network cameras) | 5 (on by default) | ZJ11 pin 2 | LD1 |
| GPS Receiver | 6 | ZJ11 pin 3 | MD1 |
| Laser Rangefinder #1 | 9 | ZJ10 pin 4 | HD1 |
| Laser Rangefinder #1 Heater -- Raw** | 11 (on by default, but laser only uses as necessary) | AJ1 | AD1 |
| Laser Rangefinder #2 | 24 (Seekur only) | ZJ10 pin 3 | ? |
| Laser Rangefinder #2 Heater -- Raw** | 27 (Seekur only) (on by default, but laser only uses as necessary) | AJ1 | ? |
| RVision SEE Camera -- Raw** | 12 | BJ1 | BD1 |
| Pan/tilt unit #1 | 9 | ZJ10 pin 5 | ID1 |
| Pan/tilt unit #2 | 22 (Seekur only) | ZJ10 pin 1 | ? |
| Pan/tilt unit #3 | 23 (Seekur only) | ZJ10 pin 2 | ? |
| Manipulator arm | 29 | n/a [relay board high amp] | n/a |
| Small camera | 7 | ZJ11 pin 4 | ? |
* 12V Power-over-ethernet (12V PoE) provides 12V power via the external modular ethernet port to the WRAP wireless interface or 900 MHz radio. the 12V power is added to the CAT5 connector -- do not use this with LAN equipment not designed for 12V PoE (note that other PoE voltages are also used, such as 48V). Make sure power is disabled (this port turns on at startup) or use a coupler that disconnects the powered lines from the cable. Contact Support if you have any questions about this.
Unallocated ports on primary PDB available for user devices:
| Power | Port ID | PDB connector | PDB LED indicator |
|---|---|---|---|
| 12V 2A | 7 | ZJ11 pin 4 | ? |
| 5V 2A | 2 | ZJ9 pin 1 | ? |
| 5V 2A | 3 | ZJ9 pin 2 | ? |
Unallocated ports on secondary PDB (Seekur Only) available for user devices:
| Power | Port ID | PDB connector | PDB LED indicator |
|---|---|---|---|
| 24V raw unregulated 5A | 28 | BJ1 pin 1 | ? |
| 24V 1A | 25 | ZJ10 pin 4 | ? |
| 24V 1A | 26 | ZJ10 pin 5 | ? |
| 12V 2A | 18 | ZJ11 pin 1 | ? |
| 12V 2A | 19 | ZJ11 pin 2 | ? |
| 12V 2A | 20 | ZJ11 pin 3 | ? |
| 12V 2A | 21 | ZJ11 pin 4 | ? |
| 5V 2A | 16 | ZJ9 pin 1 | ? |
| 5V 2A | 17 | ZJ9 pin 2 | ? |
| 5V 2A | always on | UJ1 | ? |
** Note Raw 24V PDB outputs may be disabled when robot is charging (since the voltage may exceed 24V)
