====== ESX 3XL ======
  * [[robots:hako:hardware:esx_3xl:pictures|Pictures]]
  * [[robots:hako:hardware:esx_3xl:housing|Housing]]
===== Documentation from Sensor-Technik Wiedemann GmbH =====
http://www.sensor-technik.de/

  *[[robots:hako:hardware:esx_3xl:mainboard-wirering|Mainboard - Hardware - Wiring diagrams]]
  *[[robots:hako:hardware:esx_3xl:mainboard-led|Mainboard - Hardware - LED assignment]]
  *[[robots:hako:hardware:esx_3xl:mainboard-pinassignments_func|Mainboard - Hardware - Pin assignment (grouped by function)]]
  *[[robots:hako:hardware:esx_3xl:mainboard-pinassignments_no|Mainboard - Hardware - Pin assignment (sorted by pin numbers)]]




===== Connectors KS1 KS2 =====
Downloads in English.\\

|Micro Quadlok Interconnection system|{{:robots:hako:hardware:eng_cat_1307999_0305_131_1_.pdf|Download}} (29 KB)|
|CAT 1307999 0305 131| ::: |
|Sealed MQS/JPT 81P/40P|{{:robots:hako:hardware:eng_ss_108-5793-3_a_1_.pdf|Download}} (258 KB)|
|SS_108-5793-3_A| ::: |
|Sealed MQS/JPT81/40pos connctor|{{:robots:hako:hardware:eng_ss_411-78008_o_1_.pdf|Download}} (434 KB)|
|SS 411-78008_O| ::: |
|Introduction of connector coding for KS1/KS2|{{:robots:hako:hardware:esx-3xl-modification-connectors_coding.pdf|Download}} (614 KB)|
|Modification of Technical Specification| ::: |



===== IO List for ESX on the Hako =====

  * [[robots:hako:hardware:esx_3xl#Diagrams|Diagrams]]
  * [[robots:hako:hardware:esx_3xl#IO for ESX|IO for ESX]]


Connection list for the ESX 3XL computer in the AMS\\
ESX 3XL {{:robots:hako:hardware:ams_esx_3xl_connection_list.xls|Connection list}} (45 KB .xls)\\

==== Diagrams ====
Click at the diagrams to get a bigger picture and a zoom-function:

=== AMS (1) Test Cable Harness, KS1 ===
{{:robots:hako:hardware:ams_ks1.gif?direct&400|AMS (1) Test Cable Harness, KS1}}\\

=== AMS (1) Test Cable Harness, KS2 ===
{{:robots:hako:hardware:ams_ks2.gif?direct&400|AMS KS 2}}

=== Can / RS232 Connection ===
{{:robots:hako:hardware:can_cable.gif?direct&400|Can Cable}}

=== Connector in ESX 3XL, view towards ESX 3XL ===
{{:robots:hako:hardware:connector_pin_numbers.gif?direct&400|Connector pin Numbers}}\\

=== ESX 3XL connectors: Cable connector (socket) seen from front (mating side) ===
{{:robots:hako:hardware:connector_pin_numbers2.gif?direct&400|Connector pin Numbers 2}}\\

=== ESX 3XL IO for Hako ===
{{:robots:hako:hardware:io_for_ecs_test.gif?direct&400|IO for ECS test}}\\

For test of the Engine RPM, Output Switches, CVT and Steering modules
something like the following hardware will be needed.

=== IO for ESX Description ===

== Inputs ==
  Channel 1 (KS1 pin 70) : Extra engine speed input. (PNP 12 V).
  Channel 2 (KS1 pin 12) : Extra prop shaft (CVT) input. (PNP 12 V).
  Channel 5 (KS1 pin 69) : Prop shaft (CVT) quadrature encoder A. (PNP 12 V).
  Channel 6 (KS1 pin 11) : Prop shaft (CVT) quadrature encoder B. (PNP 12 V).
  Channel 7 (KS1 pin 30) : Engine speed. (PNP 12 V).
  ??Channel 8 (KS1 pin 49) : CVT Neutral. Switch to 12 V (i.e. PNP type).
  Channel 9 (KS1 pin 68) : Steering angle left. (Potentiometer).
  Channel 10 (KS1 pin 10) : Steering angle right. (Potentiometer).

== Outputs ==
  Channel 2 (KS1 pin 33) : Aux Rear (hydraulics).
  Channel 3 (KS1 pin 51) : Lights (head).
  Channel 4 (KS1 pin 52) : Horn.
  Channel 6 (KS1 pin 14) : Reversing Lights.
  Channel 7 (KS1 pin 71) : Flashing Light Left (indicator light).
  Channel 8 (KS1 pin 72) : Flashing Light Right (indicator light).
  Channel 9 (KS2 pin 49) : Steering reference.
  Channel 13 (KS2 pin 50) : CVT Speed reference.
  Channel 16 (KS2 pin 70) : PTO Rear.
  Channel 17 (KS2 pin 51) : Engine speed reference.

== Sensor supply ==
  Uext1 (KS1 pin 66) ??Supply for steering angle potentiometers?
  AGND (for Uext1) (KS1 pin 47)

== Supply for output groups ==
  +UB1 (KS1 pin 5)
  +UB2 (KS2 pin 5)
  +UB3 (KS2 pin 2)

== RS-232 ==
  TXD (KS1 pin 44)
  RXD (KS1 pin 63)

== CAN1 (interface to NavCom) ==
  CAN1_H (KS1 pin 7 / 8)
  CAN1_L (KS1 pin 26 / 27)
    Consider whether both pins should be connected (what would be the easiest
    in case the test pattern generator CAN2 should be connected/disconnected).

== CAN2 (generating test pattern (commands)) ==
  CAN2_H (KS1 pin 45 or 46)
  CAN2_L (KS1 pin 64 or 65)
    Idea: write task which will output a test pattern - not necessarily listening
    to any reports. If complicated tests (many packets) are needed it seems the
    generation of CAN messages should be automated - the ESX 3XL seems to be the
    only available device which can generate CAN message patterns).

== Supply for computer ==

  GND (KS1 pin 2)
  +UE (KS1 pin 6)
  D+ (KS1 pin 25) ??Will this be necessary for this test?

??Consider sequencing input for test purposes? The RS-232 or the CAN bus should
probably be used instead.