===== Mainboard - Hardware - Pin assignment (sorted by pin numbers) =====


  * [[robots:hako:hardware:esx_3xl:mainboard-pinassignments_no#Connectors (male) of ESX-3XL (KS1 and KS2)(by number|Connectors positioning]]
  * [[robots:hako:hardware:esx_3xl:mainboard-pinassignments_no#Pin assignment of KS1 (Pins sorted by pin numbers)|Pin assignment KS1]]
  * [[robots:hako:hardware:esx_3xl:mainboard-pinassignments_no#Pin assignment of KS2 (Pins sorted by pin numbers)|Pin assignment KS2]]

Download "Pin assignment (sorted by pin numbers)" as {{:robots:hako:hardware:pin_number.pdf|pdf}} (82 KB)


=== Connectors (male) of ESX-3XL (KS1 and KS2) (by number) ===
{{:robots:hako:hardware:pin_assignment_connectors.png?|}}

=== Pin assignment of KS1 (Pins sorted by pin numbers) ===
For a table where pins are sorted by funktion, look [[robots:hako:hardware:esx_3xl#Mainboard - Hardware - Pin assignment (grouped by function)|here]].

^Connector^Pin^Type^CAD signal name^Description^Mainboard^Expansion slot A..F^
|KS1|	1|Pwr|POWER_C_PIN14|Expansion slot C - IO pin 14 (e.g. power supply )| |x| 
|KS1|	2|Pwr|GND|Ground mainboard|x| |
|KS1|	3|Pwr|POWER_A_PIN14|Expansion slot A - IO pin 14 (e.g. power supply )| |x|
|KS1|	4|Pwr|POWER_B_PIN14|Expansion slot B - IO pin 14 (e.g. power supply )| |x|
|KS1|	5|Pwr|+UB1|Power supply pin for outputs 1..8 (High-Side 4 A)|x| |
|KS1|	6|Sig|+UE|Power supply electronic|x| |
|KS1|	7|Sig|CAN1_H|CAN bus 1 (high)|x| |
|KS1|	8|Sig|CAN1_H|CAN bus 1 (high)|x| |
|KS1|	9|Sig|AIN_DIN14|Multi-functional input 14|x| | 
|KS1|	10|Sig|AIN_DIN10|Multi-functional input 10|x| | 
|KS1|	11|Sig|AIN_DIN6|Multi-functional input 6|x| | 
|KS1|	12|Sig|AIN_DIN2|Multi-functional input 2|x| | 
|KS1|	13|Sig|HS4A_PWM_MUT5|High-Side PWM output 5 (4 A)|x| | 
|KS1|	14|Sig|HS4A_PWM_MUT6|High-Side PWM output 6 (4 A)|x| | 
|KS1|	15|Sig|BABY_A_PIN10|Expansion slot A - IO pin 10| |x| 
|KS1|	16|Sig|BABY_A_PIN6|Expansion slot A - IO pin 6| |x| 
|KS1|	17|Sig|BABY_A_PIN2|Expansion slot A - IO pin 2| |x|
|KS1|	18|Sig|BABY_B_PIN11|Expansion slot B - IO pin 11| |x| 
|KS1|	19|Sig|BABY_B_PIN7|Expansion slot B - IO pin 7| |x| 
|KS1|	20|Sig|BABY_B_PIN3|Expansion slot B - IO pin 3| |x| 
|KS1|	21|Sig|BABY_C_PIN12|Expansion slot C - IO pin 12| |x| 
|KS1|	22|Sig|BABY_C_PIN8|Expansion slot C - IO pin 8| |x| 
|KS1|	23|Sig|BABY_C_PIN4|Expansion slot C - IO pin 4| |x|
|KS1|	24|Sig|PWR_OPT_C_PIN13|Expansion slot C - IO pin 13 (e.g. free-wheeling current)| |x|
^Connector^Pin^Type^CAD signal name^Description^Mainboard^Expansion slot A..F^
|KS1|	25|Sig|D+|Ignition|x| | 
|KS1|	26|Sig|CAN1_L|CAN bus 1 (low)|x| | 
|KS1|	27|Sig|CAN1_L|CAN bus 1 (low)|x| | 
|KS1|	28|Sig|AIN_DIN15|Multi-functional input 15|x| | 
|KS1|	29|Sig|AIN_DIN11|Multi-functional input 11|x| | 
|KS1|	30|Sig|AIN_DIN7|Multi-functional input 7|x| |
|KS1|	31|Sig|AIN_DIN3|Multi-functional input 3|x| | 
|KS1|	32|Sig|HS4A_PWM_MUT1|High-Side PWM output 1 (4 A)|x| | 
|KS1|	33|Sig|HS4A_PWM_MUT2|High-Side PWM output 2 (4 A)|x| | 
|KS1|	34|Sig|BABY_A_PIN11|Expansion slot A - IO pin 11| |x| 
|KS1|	35|Sig|BABY_A_PIN7|Expansion slot A - IO pin 7| |x|
|KS1|	36|Sig|BABY_A_PIN3|Expansion slot A - IO pin 3| |x| 
|KS1|	37|Sig|BABY_B_PIN12|Expansion slot B - IO pin 12| |x| 
|KS1|	38|Sig|BABY_B_PIN8|Expansion slot B - IO pin 8| |x| 
|KS1|	39|Sig|BABY_B_PIN4|Expansion slot B - IO pin 4| |x|
|KS1|	40|Sig|PWR_OPT_B_PIN13|Expansion slot B - IO pin 13 (e.g. free-wheeling current)| |x|
|KS1|	41|Sig|BABY_C_PIN9|Expansion slot C - IO pin 9| |x| 
|KS1|	42|Sig|BABY_C_PIN5|Expansion slot C - IO pin 5| |x| 
|KS1|	43|Sig|BABY_C_PIN1|Expansion slot C - IO pin 1| |x| 
|KS1|	44|Sig|TXD|RS232 1 (TxD)|x| |
|KS1|	45|Sig|CAN2_H|CAN bus 2 (high)|x| |
|KS1|	46|Sig|CAN2_H|CAN bus 2 (high)|x| | 
|KS1|	47|Sig|AGND|Analog ground (Uext1)|x| | 
|KS1|	48|Sig|AIN_DIN12|Multi-functional input 12|x| | 
|KS1|	49|Sig|AIN_DIN8|Multi-functional input 8|x| | 
|KS1|	50|Sig|AIN_DIN4|Multi-functional input 4|x| | 
|KS1|	51|Sig|HS4A_PWM_MUT3|High-Side PWM output 3 (4 A)|x| | 
|KS1|	52|Sig|HS4A_PWM_MUT4|High-Side PWM output 4 (4 A)|x| |
|KS1|	53|Sig|BABY_A_PIN12|Expansion slot A - IO pin 12| |x| 
|KS1|	54|Sig|BABY_A_PIN8|Expansion slot A - IO pin 8| |x| 
|KS1|	55|Sig|BABY_A_PIN4|Expansion slot A - IO pin 4| |x|
|KS1|	56|Sig|PWR_OPT_A_PIN13|Expansion slot A - IO pin 13 (e.g. free-wheeling current)| |x|
|KS1|	57|Sig|BABY_B_PIN9|Expansion slot B - IO pin 9| |x| 
|KS1|	58|Sig|BABY_B_PIN5|Expansion slot B - IO pin 5| |x| 
|KS1|	59|Sig|BABY_B_PIN1|Expansion slot B - IO pin 1| |x|
|KS1|	60|Sig|BABY_C_PIN10|Expansion slot C - IO pin 10| |x|
^Connector^Pin^Type^CAD signal name^Description^Mainboard^Expansion slot A..F^
|KS1|	61|Sig|BABY_C_PIN6|Expansion slot C - IO pin 6| |x| 
|KS1|	62|Sig|BABY_C_PIN2|Expansion slot C - IO pin 2| |x| 
|KS1|	63|Sig|RXD|RS232 1 (RxD)|x| | 
|KS1|	64|Sig|CAN2_L|CAN bus 2 (low)|x| | 
|KS1|	65|Sig|CAN2_L|CAN bus 2 (low)|x| | 
|KS1|	66|Sig|Uext1|Regulated voltage output 1 (e.g. sensor supply)|x| | 
|KS1|	67|Sig|AIN_DIN13|Multi-functional input 13|x| | 
|KS1|	68|Sig|AIN_DIN9|Multi-functional input 9|x| | 
|KS1|	69|Sig|AIN_DIN5|Multi-functional input 5|x| | 
|KS1|	70|Sig|AIN_DIN1|Multi-functional input 1|x| | 
|KS1|	71|Sig|HS4A_PWM_MUT7|High-Side PWM output 7 (4 A)|x| | 
|KS1|	72|Sig|HS4A_PWM_MUT8|High-Side PWM output 8 (4 A)|x| | 
|KS1|	73|Sig|BABY_A_PIN9|Expansion slot A - IO pin 9| |x| 
|KS1|	74|Sig|BABY_A_PIN5|Expansion slot A - IO pin 5| |x| 
|KS1|	75|Sig|BABY_A_PIN1|Expansion slot A - IO pin 1| |x| 
|KS1|	76|Sig|BABY_B_PIN10|Expansion slot B - IO pin 10| |x|
|KS1|	77|Sig|BABY_B_PIN6|Expansion slot B - IO pin 6| |x| 
|KS1|	78|Sig|BABY_B_PIN2|Expansion slot B - IO pin 2| |x| 
|KS1|	79|Sig|BABY_C_PIN11|Expansion slot C - IO pin 11| |x| 
|KS1|	80|Sig|BABY_C_PIN7|Expansion slot C - IO pin 7| |x| 
|KS1|	81|Sig|BABY_C_PIN3|Expansion slot C - IO pin 3| |x|

**Notes:**
  * Standard mode for RS-232 is a three line serial connection (RxD, TxD, Gnd) with no handshake (neither hardware nor software)
  * Handshake lines RTS and CTS of RS-232 are **not** available
  * RxD-, TxD-lines are **not** electrical isolated
  * **Avoid short circuits on TxD-lines to GND or +U<sub>B</sub> under all circumstances!!!**

=== Pin assignment of KS2 (Pins sorted by pin numbers) ===
For a table where pins are sorted by funktion, look [[robots:hako:hardware:esx_3xl#Mainboard - Hardware - Pin assignment (grouped by function)|here]].

^Connector^Pin^Type^CAD signal name^Description^Mainboard^Expansion slot A..F^
|KS2|	1|Pwr|POWER_E_PIN14|Expansion slot E - IO pin 14 (e.g. power supply )| |x| 
|KS2|	2|Pwr|+UB3|Power supply pin for outputs 17..24 (High-Side 2.5 A)|x| |
|KS2|	3|Pwr|POWER_D_PIN14|Expansion slot D - IO pin 14 (e.g. power supply )| |x|
|KS2|	4|Pwr|POWER_F_PIN14|Expansion slot F - IO pin 14 (e.g. power supply )| |x|
|KS2|	5|Pwr|+UB2|Power supply pin for outputs 9..16 (High-Side 2.5 A)|x| |
|KS2|	6|Sig|CAN4_L|CAN bus 4 (low)|x| |
|KS2|	7|Sig|AGND|Analog ground (Uext3)|x| |
|KS2|	8|Sig|AIN_DIN19|Multi-functional input 19|x| |
|KS2|	9|Sig|AIN_DIN23|Multi-functional input 23|x| | 
|KS2|	10|Sig|AIN_DIN27|Multi-functional input 27|x| | 
|KS2|	11|Sig|HS2.5A_PWM_MUT11|High-Side PWM output 11 (2.5 A)|x| | 
|KS2|	12|Sig|HS2.5A_PWM_MUT15|High-Side PWM output 15 (2.5 A)|x| | 
|KS2|	13|Sig|HS2.5A_PWM_MUT19|High-Side PWM output 19 (2.5 A)|x| | 
|KS2|	14|Sig|HS2.5A_PWM_MUT23|High-Side PWM output 23 (2.5 A)|x| | 
|KS2|	15|Sig|HS2.5A_PWM_MUT24|High-Side PWM output 24 (2.5 A)| |x| 
|KS2|	16|Sig|BABY_D_PIN3|Expansion slot D - IO pin 3| |x| 
|KS2|	17|Sig|BABY_D_PIN7|Expansion slot D - IO pin 7| |x| 
|KS2|	18|Sig|BABY_D_PIN11|Expansion slot D - IO pin 11| |x| 
|KS2|	19|Sig|BABY_E_PIN2|Expansion slot E - IO pin 2| |x| 
|KS2|	20|Sig|BABY_E_PIN6|Expansion slot E - IO pin 6| |x| 
|KS2|	21|Sig|BABY_E_PIN10|Expansion slot E - IO pin 10| |x| 
|KS2|	22|Sig|BABY_F_PIN1|Expansion slot F - IO pin 1| |x| 
|KS2|	23|Sig|BABY_F_PIN5|Expansion slot F - IO pin 5| |x|
|KS2|	24|Sig|BABY_F_PIN9|Expansion slot F - IO pin 9| |x|
^Connector^Pin^Type^CAD signal name^Description^Mainboard^Expansion slot A..F^
|KS2|	25|Sig|CAN4_H|CAN bus 4 (high)|x| | 
|KS2|	26|Sig|Uext3|Regulated voltage output 3 (e.g. sensor supply)|x| | 
|KS2|	27|Sig|AIN_DIN18|Multi-functional input 18|x| | 
|KS2|	28|Sig|AIN_DIN22|Multi-functional input 22|x| | 
|KS2|	29|Sig|AIN_DIN26|Multi-functional input 26|x| | 
|KS2|	30|Sig|HS2.5A_PWM_MUT10|High-Side PWM output 10 (2.5 A)|x| |
|KS2|	31|Sig|HS2.5A_PWM_MUT14|High-Side PWM output 14 (2.5 A)|x| | 
|KS2|	32|Sig|HS2.5A_PWM_MUT18|High-Side PWM output 18 (2.5 A)|x| | 
|KS2|	33|Sig|HS2.5A_PWM_MUT22|High-Side PWM output 22 (2.5 A)|x| | 
|KS2|	34|Sig|PWR_OPT_D_PIN13|Expansion slot D - IO pin 13 (e.g. free-wheeling current)| |x| 
|KS2|	35|Sig|BABY_D_PIN4|Expansion slot D - IO pin 4| |x|
|KS2|	36|Sig|BABY_D_PIN8|Expansion slot D - IO pin 8| |x| 
|KS2|	37|Sig|BABY_D_PIN12|Expansion slot D - IO pin 12| |x| 
|KS2|	38|Sig|BABY_E_PIN3|Expansion slot E - IO pin 3| |x| 
|KS2|	39|Sig|BABY_E_PIN7|Expansion slot E - IO pin 7| |x|
|KS2|	40|Sig|BABY_E_PIN11|Expansion slot E - IO pin 11| |x|
|KS2|	41|Sig|BABY_F_PIN2|Expansion slot F - IO pin 2| |x| 
|KS2|	42|Sig|BABY_F_PIN6|Expansion slot F - IO pin 6| |x| 
|KS2|	43|Sig|BABY_F_PIN10|Expansion slot F - IO pin 10| |x| 
|KS2|	44|Sig|CAN3_L|CAN bus 3 (low)|x| |
|KS2|	45|Sig|AGND|Analog ground (Uext2)|x| |
|KS2|	46|Sig|AIN_DIN17|Multi-functional input 17|x| | 
|KS2|	47|Sig|AIN_DIN21|Multi-functional input 21|x| | 
|KS2|	48|Sig|AIN_DIN25|Multi-functional input 25|x| | 
|KS2|	49|Sig|HS2.5A_PWM_MUT9|High-Side PWM output 9 (2.5 A)|x| | 
|KS2|	50|Sig|HS2.5A_PWM_MUT13|High-Side PWM output 13 (2.5 A)|x| | 
|KS2|	51|Sig|HS2.5A_PWM_MUT17|High-Side PWM output 17 (2.5 A)|x| | 
|KS2|	52|Sig|HS2.5A_PWM_MUT21|High-Side PWM output 21 (2.5 A)|x| | 
|KS2|	53|Sig|BABY_D_PIN1|Expansion slot D - IO pin 1| |x| 
|KS2|	54|Sig|BABY_D_PIN5|Expansion slot D - IO pin 5| |x| 
|KS2|	55|Sig|BABY_D_PIN9|Expansion slot D - IO pin 9| |x|
|KS2|	56|Sig|PWR_OPT_E_PIN13|Expansion slot D - IO pin 13 (e.g. free-wheeling current)| |x|
|KS2|	57|Sig|BABY_E_PIN4|Expansion slot E - IO pin 4| |x| 
|KS2|	58|Sig|BABY_E_PIN8|Expansion slot E - IO pin 8| |x| 
|KS2|	59|Sig|BABY_E_PIN12|Expansion slot E - IO pin 12| |x|
|KS2|	60|Sig|BABY_F_PIN3|Expansion slot F - IO pin 3| |x|
^Connector^Pin^Type^CAD signal name^Description^Mainboard^Expansion slot A..F^
|KS2|	61|Sig|BABY_F_PIN7|Expansion slot F - IO pin 7| |x| 
|KS2|	62|Sig|BABY_F_PIN11|Expansion slot F - IO pin 11| |x| 
|KS2|	63|Sig|CAN3_H|CAN bus 3 (high)|x| | 
|KS2|	64|Sig|Uext2|Regulated voltage output 2 (e.g. sensor supply)|x| | 
|KS2|	65|Sig|AIN_DIN16|Multi-functional input 16|x| | 
|KS2|	66|Sig|AIN_DIN20|Multi-functional input 20|x| | 
|KS2|	67|Sig|AIN_DIN24|Multi-functional input 24|x| | 
|KS2|	68|Sig|AIN_DIN28|Multi-functional input 28|x| | 
|KS2|	69|Sig|HS2.5A_PWM_MUT12|High-Side PWM output 12 (2.5 A)|x| | 
|KS2|	70|Sig|HS2.5A_PWM_MUT16|High-Side PWM output 16 (2.5 A)|x| | 
|KS2|	71|Sig|HS2.5A_PWM_MUT20|High-Side PWM output 20 (2.5 A)|x| | 
|KS2|	72|Sig|BABY_D_PIN2|Expansion slot D - IO pin 2|x| | 
|KS2|	73|Sig|BABY_D_PIN6|Expansion slot D - IO pin 6| |x| 
|KS2|	74|Sig|BABY_D_PIN10|Expansion slot D - IO pin 10| |x| 
|KS2|	75|Sig|BABY_E_PIN1|Expansion slot E - IO pin 1| |x| 
|KS2|	76|Sig|BABY_E_PIN5|Expansion slot E - IO pin 5| |x|
|KS2|	77|Sig|BABY_E_PIN9|Expansion slot E - IO pin 9| |x| 
|KS2|	78|Sig|PWR_OPT_F_PIN13|Expansion slot F - IO pin 13 (e.g. free-wheeling current)| |x| 
|KS2|	79|Sig|BABY_F_PIN4|Expansion slot F - IO pin 4| |x| 
|KS2|	80|Sig|BABY_F_PIN8|Expansion slot F - IO pin 8| |x| 
|KS2|	81|Sig|BABY_F_PIN12|Expansion slot F - IO pin 12| |x|