Milford Instruments, 120 High Street, South Milford, LEEDS, LS25 5AQ, United Kingdom.      tel. +44 1977 683665
http://www.milinst.com
Hextor by David L Buckley - September 2001
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Set the Circuit-board Jumpers


Printed Circuit Board - Jumpers
-------------------------------
(Note due to an oversight there are two jumper-headers labeled J18)

Set the jumpers as indicated in bold

J1 - 4	BOS serial-coms to D9-connector or to BS2
		see photograph 1 for link placement
		Use bottom pins for linking the D9 to the BS2Sx
		Use top pins for linking the D9 directly to the BOS
			To prevent the BS2sx from interfering, 
			J12 allows it to be held in reset.
J5	Attn. line from D9-connector to BS2
		open	to use D9 for serial coms to BS2
		link	to program BS2
J6,7	Grip/lift, Auxilliary and Ultrasonic  Servo-supply
		see photograph 2 for link placement
		left pins - Servo-supply - switched off by SW1
		right pins - Servo-supply - unswitched - always ON 
J8  	BOS commands, serial-coms baud rate from BS2 or D9
		open 9600
		linked 2400
J9	BS2 controls the switched 5v electronics supply
		link epcon to epower
J10	sets the switched 5v electronics supply to ON
		for when the BOS is being controlled from a terminal
		leave open
J11	link to supply Protected 7v to Expansion-connector pin12
		only link if using Expansion-connector
J12	BS2 reset, link to reset BS2
		Allows the BS2sx to be held in reset when the BOS
		is controlled from a terminal. See J1-4.
		Reset signal also appears on Expansion-connector pin1
		leave open
J13,13,15,16,18b,19
-------------------
		allow the Expansion-connector lines to be used for 
		something else when daughter boards are used. 
J13	BS2 pin8  and Expansion-connector pin3=D0  to right-LED - link
J14	BS2 pin9  and Expansion-connector pin4=D1  to left-LED - link
J15	BS2 pin11 and Expansion-connector pin6=D3  to right-Feeler - link
J18a			also to right gripper pad via header plug on J18a
J16	BS2 pin10 and Expansion-connector pin5=D2 to left-Feeler - link
J17			also to left gripper pad via header plug on J17
J18b	BS2 pin14 and Expansion-connector pin9=D6  to US-sub-system - link
J19	BS2 pin15 and Expansion-connector pin10=D7  to US-sub-system - link
Prog	short together to enter programming-mode for the IR-receiver - open
1 2
3
4 5

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