Differences

This shows you the differences between two versions of the page.

--- robots:hako:hardware:esx_3xl [2012/09/28 14:49]
claes [ESX 3XL]
+++ robots:hako:hardware:esx_3xl [2021/08/14 04:21] (current)
@@ Line 1: / Line 1: @@
 ====== 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)]]
-===== Mainboard - Hardware - Pin assignment (sorted by pin numbers) =====
-  * [[robots:hako:hardware:esx_3xl#Connectors (male) of ESX-3XL (KS1 and KS2)(by number|Connectors positioning]]
-  * [[robots:hako:hardware:esx_3xl#Pin assignment of KS1 (Pins sorted by pin numbers)|Pin assignment KS1]]
-  * [[robots:hako:hardware:esx_3xl#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|
-===== Mainboard - Hardware - Wiring diagrams =====
-  * [[robots:hako:hardware:esx_3xl#Connectors (male) of ESX-3XL (KS1 and KS2)|Connectors positioning]]
-  * [[robots:hako:hardware:esx_3xl#Power connection wiring|Power wiring]]
-  * [[robots:hako:hardware:esx_3xl#Communication wiring|Communication wiring]]
-Download "Mainboard - Hardware - Wiring diagrams" as a {{:robots:hako:hardware:basic_wiring.pdf|pdf}} (152 KB).
-=== Connectors (male) of ESX-3XL (KS1 and KS2) ===
-First of all, connectors are shown once again for a easier finding of pins.
-{{:robots:hako:hardware:basic_wiring_connectors.png?|}}
-=== Power connection wiring ===
-{{:robots:hako:hardware:basic_wiring_powerconnectionwiring.png?|}}
-**Notes:**\\
-.	Minimal connections for operating are D+, +UE and GND. \\
-.	Fuse is recommended if short circuit to UBat cannot be excluded.\\
-Attention: Applying this fuse can result in minor precision of applied sensors! \\
-.	+UB1 is needed when 4A-High side outputs are used. \\
-.	+UB2 is needed when 2.5A-High side outputs 1 to 8 are used. \\
-.	+UB3 is needed when 2.5A-High side outputs 9 to 16 are used.\\
-=== Communication wiring ===
-{{:robots:hako:hardware:basic_wiring_communicationwiring.png?|}}
-**Notes:**\\
-. Default CAN-Interface for KEFEX-Winflash is CAN1.\\
-. Standard mode for RS-232 is a three line serial connection (RxD, TxD, Gnd) with no handshake (neither hardware nor software).\\
-. **Avoid short circuits on TxD-lines to GND or +U<sub>Bat</sub> under all circumstances!!! **  \\
-===== Mainboard - Hardware - LED assignment =====
-  * [[robots:hako:hardware:esx_3xl#Location|LEDs location]]
-  * [[robots:hako:hardware:esx_3xl#Description|LEDs description]]
-=== Location ===
-{{:robots:hako:hardware:led_assignment_location.png?|}}
-=== Description ===
-.	**Power ON LED:** (green)\\
-This LED indicates that all necessary voltages in the ESX-3XL for running the CPU are given. At least +UE and D+ have to be powered on for this.\\
-If this LED doesn't light, the ESX-3XL has no supply or it is damaged.\\
-.	**ERROR LED:** (red)\\
-This LED shows severe errors which were encountered during POST (Power On Self Test) or while the system is/was running. The following table shows various blink codes for various errors:
-^Blink code^Error name^Explanation of error^
-|LED is off|No error|While there is no error the LED remains off|
-|LED is always on|Flash ROM error|System encountered a flash ROM CRC error during booting up. System is halted. Please contact your local sales representative!|
-|LED is continously fast flashing (5 Hz)|EEPROM error|System encountered a EEPROM read error during POST or a EEPROM write error during runtime. It is possible that this error can be fixed by using the function x_sys_config_supervisor. If the error persists please contact your local sales representative!|
-|LED flashes 3x, then pausing for app. 300ms|U<sub>F</sub> error|System encountered a low voltage power supply (< 8 V) error during runtime. This error is non-permanent.|
-|LED flashes 2x, then pausing for app. 500ms|U<sub>sys</sub> error|System encountered an error on the system voltages during runtime. This error can be seen for a short time during power up and is non permanent.|
-|LED flashes 1x, then pausing for app. 700ms|Watchdog error|System encountered an watchdog error. The watchdog wasn't retriggered in time.|
-.	**User LED 1:** (red/green)\\
-This LED is freely programmable by the user. Look at x_sys_set_led.\\
-.	**User LED 2:** (red/green) \\
-This LED is freely programmable by the user. Look at x_sys_set_led.
@@ Line 283: / Line 27: @@
-===== IO List =====
+===== IO List for ESX on the Hako =====
-  * [[robots:hako:hardware:esx_3xl#Pictures|Pictures]]
+  * [[robots:hako:hardware:esx_3xl#Diagrams|Diagrams]]
-  * [[robots:hako:hardware:esx_3xl#IO for ECS|IO for ECS]]
+  * [[robots:hako:hardware:esx_3xl#IO for ESX|IO for ESX]]
@@ Line 292: / Line 36: @@
 ESX 3XL {{:robots:hako:hardware:ams_esx_3xl_connection_list.xls|Connection list}} (45 KB .xls)\\
-=== Pictures ===
+==== Diagrams ====
+Click at the diagrams to get a bigger picture and a zoom-function:
-AMS (1) Test Cable Harness, KS1\\
+=== AMS (1) Test Cable Harness, KS1 ===
-{{:robots:hako:hardware:ams_ks1.gif?|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\\
+=== AMS (1) Test Cable Harness, KS2 ===
-{{:robots:hako:hardware:ams_ks2.gif?|AMS KS 2}}\\
+{{:robots:hako:hardware:ams_ks2.gif?direct&400|AMS KS 2}}
-Can Connection - RS232 connection\\
+=== Can / RS232 Connection ===
-{{:robots:hako:hardware:can_cable.gif?|Can Cable}}\\
+{{:robots:hako:hardware:can_cable.gif?direct&400|Can Cable}}
-Connector in ESX 3XL, view towards ESX 3XL\\
+=== Connector in ESX 3XL, view towards ESX 3XL ===
-{{:robots:hako:hardware:connector_pin_numbers.gif?|Connector pin Numbers}}\\
+{{:robots:hako:hardware:connector_pin_numbers.gif?direct&400|Connector pin Numbers}}\\
-ESX 3XL connectors: Cable connector (socket) seen from front (mating side)\\
+=== ESX 3XL connectors: Cable connector (socket) seen from front (mating side) ===
-{{:robots:hako:hardware:connector_pin_numbers2.gif?|Connector pin Numbers 2}}\\
+{{:robots:hako:hardware:connector_pin_numbers2.gif?direct&400|Connector pin Numbers 2}}\\
-ESX 3XL\\
+=== ESX 3XL IO for Hako ===
-{{:robots:hako:hardware:io_for_ecs_test.gif?|IO for ECS test}}\\
+{{: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 ECS ===
+=== IO for ESX Description ===
-Inputs:
+== 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).
@@ Line 327: / Line 72: @@
   Channel 10 (KS1 pin 10) : Steering angle right. (Potentiometer).
-Outputs:
+== Outputs ==
   Channel 2 (KS1 pin 33) : Aux Rear (hydraulics).
   Channel 3 (KS1 pin 51) : Lights (head).
@@ Line 339: / Line 84: @@
   Channel 17 (KS2 pin 51) : Engine speed reference.
-Sensor supply.
+== Sensor supply ==
   Uext1 (KS1 pin 66) ??Supply for steering angle potentiometers?
   AGND (for Uext1) (KS1 pin 47)
-Supply for output groups.
+== Supply for output groups ==
   +UB1 (KS1 pin 5)
   +UB2 (KS2 pin 5)
   +UB3 (KS2 pin 2)
-RS-232
+== RS-232 ==
   TXD (KS1 pin 44)
   RXD (KS1 pin 63)
-CAN1 (interface to NavCom).
+== CAN1 (interface to NavCom) ==
   CAN1_H (KS1 pin 7 / 8)
   CAN1_L (KS1 pin 26 / 27)
@@ Line 358: / Line 103: @@
     in case the test pattern generator CAN2 should be connected/disconnected).
-CAN2 (generating test pattern (commands)).
+== CAN2 (generating test pattern (commands)) ==
   CAN2_H (KS1 pin 45 or 46)
   CAN2_L (KS1 pin 64 or 65)
@@ Line 366: / Line 111: @@
     only available device which can generate CAN message patterns).
-Supply for computer.
+== Supply for computer ==
   GND (KS1 pin 2)
   +UE (KS1 pin 6)

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