SDHLibrary-CPP 0.0.2.10SCHUNK GmbH & Co. KG
C++ access library for SCHUNK Dextrous Hand SDH

connectors.dox File Reference


Detailed Description

General project information

Author:
Dirk Osswald
Date:
2007-02-19

Purpose

This page discribes the connectors of the SDH / LWA

SDH

RS232 Communication connector cable of the SDH at the base of the LWA:

  • 9pin Sub-D female connector (View from connecting side):
             5 4 3 2 1
         ________________  
         \               /
          \  o o o o o  /
           \  o o o o  / 
            \_________/
              9 8 7 6
    
  • 1 : here: nc, (normally: Data Carrier Detect)
  • 2 : RxD of PC = TxD of SDH
  • 3 : TxD 0f PC = RxD of SDH
  • 4 : here: nc, (normally: Data Terminal Ready)
  • 5 : GND
  • 6 : here: nc, (normally: Data Set Ready)
  • 7 : here: nc, (normally: Request To Send)
  • 8 : here: nc, (normally: Clear To Send)
  • 9 : here: nc, (Ring Indicator)
  • RS232 + Power Communication connector:
  • 2x12pin FWS connector, view from connecting side of FWS part mounted on LWA: only one half is used for the SDH
                 -----------                           
                /    /-\    \                           
              --_    |x|     --                           
             / [_]   \-/       \                          
          ---      -------      ---                    
         /      --/  o o  \--      \                   
        /     _/ o o     o o \_     \                  
       /     / o             o \     \                 
      /     /o                 o\     \                
     /     /                     \     \             
    /     / o                   o \     \             
    | /-\ |                       | /-\ |                    
    | |x| |                       | |x| |
    | \-/ |                       | \-/ |
    \     \ o 12              1 o /     /             
     \     \                     /     /               
      \     \o                 o/     /                
       \     \_o   8     5   o_/     /                 
        \      \_o o     o o_/      /                  
         \        \  o o  /        /                   
          ---      -------_     ---                  
             \       /-\ [_]   /                        
              --     |x|     --                           
                \    \-/    /                             
                 -----------                           
  • 1 : Pwr (RD) 24V supply for power and logic of SDH2
  • 2 : TxD (BN) RS232 TxD of PC = RxD of SDH2
  • 3 : RxD (WH) RS232 RxD of PC = TxD of SDH2
  • 4 : TxD2 (RD) RS232 TxD of PC = RxD of SDH2, second RS232 channel of SDH2
  • 5 : RxD2 (PK) RS232 RxD of PC = TxD of SDH2, second RS232 channel of SDH2
  • 6 : CAN_H (GN) CAN High
  • 7 : CAN_L (YE) CAN Low
  • 8 : ENET TPI+ Ethernet
  • 9 : ENET TPI- Ethernet
  • 10 : ENET TPO+ Ethernet
  • 11 : ENET TPO- Ethernet
  • 12 : GND (BK) Ground
  • 2x12pin FWS connector view from connecting side of FWS part mounted on SDH: only one half is used by the SDH
                 -----------                           
                /    /-\    \                           
              --     |x|    _--                           
             /       \-/   [_] \                          
          ---      -------      ---                    
         /      --/  o o  \--      \                   
        /     _/ o o     o o \_     \                  
       /     / o             o \     \                 
      /     /o                 o\     \                
     /     /                     \     \             
    /     / o                   o \     \             
    | /-\ |                       | /-\ |                    
    | |x| |                       | |x| |
    | \-/ |                       | \-/ |
    \     \ o 1              12 o /     /             
     \     \                     /     /               
      \     \o                 o/     /                
       \     \_o   5     8   o_/     /                 
        \      \_o o     o o_/      /                  
         \        \  o o  /        /                   
          ---     _-------      ---                  
             \   [_] /-\       /                        
              --     |x|     --                           
                \    \-/    /                             
                 -----------                           
  • 1 : Pwr (RD) 24V supply for power and logic of SDH2
  • 2 : TxD (BN) RS232 TxD of PC = RxD of SDH2
  • 3 : RxD (WH) RS232 RxD of PC = TxD of SDH2
  • 4 : TxD2 (RD) RS232 TxD of PC = RxD of SDH2, second RS232 channel of SDH2
  • 5 : RxD2 (PK) RS232 RxD of PC = TxD of SDH2, second RS232 channel of SDH2
  • 6 : CAN_H (GN) CAN High
  • 7 : CAN_L (YE) CAN Low
  • 8 : ENET TPI+ Ethernet
  • 9 : ENET TPI- Ethernet
  • 10 : ENET TPO+ Ethernet
  • 11 : ENET TPO- Ethernet
  • 12 : GND (BK) Ground
LWA

Combined power / CAN connector of the LWA:

  • Male connector (View from connecting side):
             A1   1 2   A2
         _____________________  
         \    _         _    /
          \  / \  o o  / \  /
           \ \_/ o o o \_/ /
            \_____________/
                 3 4 5
    
  • A1 : +24V
  • A2 : 0V (blue)
  • 1 : CAN-High (Profibus-A1) (green)
  • 2 : RxD
  • 3 : CAN-Low (profibus-B1) (yellow)
  • 4 : Shield
  • 5 : TxD
ESD CAN-USB mini

On the PC-side CAN interface cards are often connected as follows:

  • 9pin Sub-D Male connector (View from connecting side):
             1 2 3 4 5
         ________________  
         \               /
          \  o o o o o  /
           \  o o o o  / 
            \_________/
              6 7 8 9
    
  • 1 : reserved
  • 2 : CAN_L (yellow)
  • 3 : CAN_GND (blue)
  • 4 : reserved
  • 5 : Shield
  • 6 : (CAN_GND)
  • 7 : CAN_H (green)
  • 8 : reserved
  • 9 : reserved

Copyright

Copyright (c) 2007 SCHUNK GmbH & Co. KG