Electrical Integration
The Origin One robot features a set of ports that are accessible by the user. Here is an overview of these ports, their specification and recommended mating connectors and caps. Some ports are not accessible by default, please contact Avular to inquire about additional information.
Warning
Ensure always to install proper mating connectors or caps when the robot is operational to prevent dust and water damage.
Origin One - User Interface
User interface overview
| Port # | Description | Port #.1 | Description.1 |
|---|---|---|---|
| E01 | Auxiliary Data - CAN | E10 | Antenna - Remote E-Stop |
| E02 | Auxiliary Data - RS485 | E11 | Antenna - WiFi - A |
| E03 | Auxiliary Data - D-I/O | E12 | Antenna - WiFi - B |
| E04 | Auxiliary Data - D-I/O | E13 | Antenna - GPS-SAT |
| E05 | Auxiliary Power - Vbat | E14 | Antenna - GPS-RTK |
| E06 | Auxiliary Power - 12V | E15 | Antenna - LTE/4G |
| E07 | Auxiliary Power - 12V | E16 | Auxiliary Data - USB 3.0 |
| E08 | Auxiliary Power - 24V | E17 | Auxiliary Data - Ethernet |
| E09 | Auxiliary Power - 24V | E18 | Debug & programming interface |
| E19 | Charging port |
Auxillary power cable
The Origin One comes standard supplied with two auxiliary power cables to power custom devices on top of the robot. The cables are referred to RM-1397 and can be ordered through your sales representative if spares are required. The pin-out for the cable is straightforward and is shown in the image below. This cable can be used with any of the five external power supply ports.
E01 - Auxiliary Data - CAN
| Available signals: | Digital IOs, CAN bus |
|---|---|
| Connector PN: | 001-ASD7-A_RM0815 |
| Rec. mating (plug) connector PN: | 001-VCX7-A_RM0819 / 001-ZXC3-A_RM0818 |
| Recommended cap: | 001-XQY8-A |
Info
This auxiliary data port is not by default accessible by the user, as the port is directly linked to the proprietary real-time controller. Please contact Avular for options in utilization.
| Pin nr. | Label | Description |
|---|---|---|
| 1 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 2 | USER_DO_01 | Digital out, 5V logic. Internally protected with the fuse 50mA - resettable |
| 3 | USER_DI_01 | Digital in, 5V logic. Internally protected for voltages up to Vbat. Vin,low > 0V ≤ 2.8V Vin,high ≥ 2.9V ≤ Vbat |
| 4 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 5 | CAN_P | CAN bus positive terminal. Optionally internal 120R termination controlled via real-time controller |
| 6 | CAN_N | CAN bus negative terminal. Optionally internal 120R termination controlled via real-time controller |
| 7 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 8 | +5V | 5V power output. This pin might be used to power low power auxiliary devices and it is internally protected with the resettable fuse - 100mA |
E02 - Auxiliary Data - RS485
| Available signals: | Digital IOs, RS485 bus |
|---|---|
| Connector PN: | 001-ASD7-A_RM0815 |
| Rec. mating (plug) connector PN: | 001-VCX7-A_RM0819 / 001-ZXC3-A_RM0818 |
| Recommended cap: | 001-XQY8-A |
Info
This auxiliary data port is not by default accessible by the user, as the port is directly linked to the proprietary real-time controller. Please contact Avular for options in utilization.
| Pin nr. | Label | Description |
|---|---|---|
| 1 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 2 | USER_DO_02 | Digital out, 5V logic. Internally protected with the fuse 50mA - resettable |
| 3 | USER_DI_02 | Digital in, 5V logic. Internally protected for voltages up to Vbat. Vin,low > 0V ≤ 2.8V Vin,high ≥ 2.9V ≤ Vbat |
| 4 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 5 | RS485_P | RS485 bus positive terminal. Optionally internal 120R termination controlled via real-time controller |
| 6 | RS485_N | RS485 bus negative terminal. Optionally internal 120R termination controlled via real-time controller |
| 7 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 8 | +5V | 5V power output. This pin might be used to power low power auxiliary devices and it is internally protected with the resettable fuse - 100mA |
E03 - Auxiliary Data - Digital IOs
| Available signals: | Digital IOs |
|---|---|
| Connector PN: | 001-ASD7-A_RM0815 |
| Rec. mating (plug) connector PN: | 001-VCX7-A_RM0819 / 001-ZXC3-A_RM0818 |
| Recommended cap: | 001-XQY8-A |
Info
This auxiliary data port is not by default accessible by the user, as the port is directly linked to the proprietary real-time controller. Please contact Avular for options in utilization.
| Pin nr. | Label | Description |
|---|---|---|
| 1 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 2 | USER_DO_04 | Digital out, 5V logic. Internally protected with the fuse 50mA - resettable |
| 3 | USER_DO_03 | Digital out, 5V logic. Internally protected with the fuse 50mA - resettable |
| 4 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 5 | USER_DI_04 | Digital in, 5V logic. Internally protected for voltages up to Vbat. Vin,low > 0V ≤ 2.8V Vin,high ≥ 2.9V ≤ Vbat |
| 6 | USER_DI_03 | Digital in, 5V logic. Internally protected for voltages up to Vbat. Vin,low > 0V ≤ 2.8V Vin,high ≥ 2.9V ≤ Vbat |
| 7 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 8 | +5V | 5V power output. This pin might be used to power low power auxiliary devices and it is internally protected with the resettable fuse - 100mA |
E04 - Auxiliary Data - Digital IOs
| Available signals: | Digital IOs |
|---|---|
| Connector PN: | 001-ASD7-A_RM0815 |
| Rec. mating (plug) connector PN: | 001-VCX7-A_RM0819 / 001-ZXC3-A_RM0818 |
| Recommended cap: | 001-XQY8-A |
Info
This auxiliary data port is not by default accessible by the user, as the port is directly linked to the proprietary real-time controller. Please contact Avular for options in utilization.
| Pin nr. | Label | Description |
|---|---|---|
| 1 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 2 | USER_DO_06 | Digital out, 5V logic. Internally protected with the fuse 50mA - resettable |
| 3 | USER_DO_05 | Digital out, 5V logic. Internally protected with the fuse 50mA - resettable |
| 4 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 5 | USER_DI_06 | Digital in, 5V logic. Internally protected for voltages up to Vbat. Vin,low > 0V ≤ 2.8V Vin,high ≥ 2.9V ≤ Vbat |
| 6 | USER_DI_05 | Digital in, 5V logic. Internally protected for voltages up to Vbat. Vin,low > 0V ≤ 2.8V Vin,high ≥ 2.9V ≤ Vbat |
| 7 | GND | System ground. This pin is used as power/signal return path and it is internally connected to the ground terminal of the battery |
| 8 | +5V | 5V power output. This pin might be used to power low power auxiliary devices and it is internally protected with the resettable fuse - 100mA |
E05 - Auxiliary Power - Vbat
| Available power: | Vbat. 200W max. |
|---|---|
| Connector PN: | RM-DEU-1F1S-P02KS |
| Rec. mating (plug) connector PN: | RM-SS-1F1S-P02JS |
| Recommended cap: | ZFG.1F03S.GSW.009-80 |
Warning
Port not to be used for charging the robot.
| Pin nr. | Label | Description |
|---|---|---|
| 1 | VBAT_AUX | Vbat power output. This pin might be used to power auxiliary devices and it is internally protected with the resettable fuse |
| 2 | GND | System ground. This pin is used as power return path and it is internally connected to the ground terminal of the battery |
E06 - Auxiliary Power - 12V
| Available power: | 12V. 100W max. |
|---|---|
| Connector PN: | RM-DEU-1F1S-P02KS |
| Rec. mating (plug) connector PN: | RM-SS-1F1S-P02JS |
| Recommended cap: | ZFG.1F03S.GSW.009-80 |
Info
This is 12V port A. Total available power is combined with port A and B and cannot exceed 100W.
| Pin nr. | Label | Description |
|---|---|---|
| 1 | +12V_AUX | +12V power output. This pin might be used to power auxiliary devices and it is internally protected with the resettable fuse |
| 2 | GND | System ground. This pin is used as power return path and it is internally connected to the ground terminal of the battery |
E07 - Auxiliary Power - 12V
| Available power: | 12V. 100W max. |
|---|---|
| Connector PN: | RM-DEU-1F1S-P02KS |
| Rec. mating (plug) connector PN: | RM-SS-1F1S-P02JS |
| Recommended cap: | ZFG.1F03S.GSW.009-80 |
Info
This is 12V port B. Total available power is combined with port A and B and cannot exceed 100W.
| Pin nr. | Label | Description |
|---|---|---|
| 1 | +12V_AUX | +12V power output. This pin might be used to power auxiliary devices and it is internally protected with the resettable fuse |
| 2 | GND | System ground. This pin is used as power return path and it is internally connected to the ground terminal of the battery |
E08 - Auxiliary Power - 24V
| Available power: | 24V. 100W max. |
|---|---|
| Connector PN: | RM-DEU-1F1S-P02KS |
| Rec. mating (plug) connector PN: | RM-SS-1F1S-P02JS |
| Recommended cap: | ZFG.1F03S.GSW.009-80 |
Info
This is 24V port A. Total available power is combined with port A and B and cannot exceed 100W.
| Pin nr. | Label | Description |
|---|---|---|
| 1 | +24V_AUX | +24V power output. This pin might be used to power auxiliary devices and it is internally protected with the resettable fuse |
| 2 | GND | System ground. This pin is used as power return path and it is internally connected to the ground terminal of the battery |
E09 - Auxiliary Power - 24V
| Available power: | 24V. 100W max. |
|---|---|
| Connector PN: | RM-DEU-1F1S-P02KS |
| Rec. mating (plug) connector PN: | RM-SS-1F1S-P02JS |
| Recommended cap: | ZFG.1F03S.GSW.009-80 |
Info
This is 24V port B. Total available power is combined with port A and B and cannot exceed 100W.
| Pin nr. | Label | Description |
|---|---|---|
| 1 | +24V_AUX | +24V power output. This pin might be used to power auxiliary devices and it is internally protected with the resettable fuse |
| 2 | GND | System ground. This pin is used as power return path and it is internally connected to the ground terminal of the battery |
E10 - Antenna - Remote E-Stop
| Operational frequency: | 2.4 GHz |
|---|---|
| Connector type: | SMA Female |
| Rec. mating (plug) connector PN: | SMA Male |
| Recommended antenna: | Linx Technologies - ANT-2.4-CW-HW-SMA |
| Recommended cap: |
E11 - Antenna - WiFi A
| Operational frequency: | 2.4 GHz, 5GHz, 6GHz |
|---|---|
| Connector type: | SMA Female |
| Rec. mating (plug) connector PN: | SMA Male |
| Recommended antenna: | Linx Technologies - ANT-W63WS3-SMA |
| Recommended cap: |
E12 - Antenna - WiFi B
| Operational frequency: | 2.4 GHz, 5GHz, 6GHz |
|---|---|
| Connector type: | SMA Female |
| Rec. mating (plug) connector PN: | SMA Male |
| Recommended antenna: | Linx Technologies - ANT-W63WS3-SMA |
| Recommended cap: |
Info
If a Bluetooth remote controller is used, this port should always be provided with an appropriate antenna.
E13 - Antenna - GPS-SAT
| Operational frequency: | ~1250 MHz, ~1575 MHz |
|---|---|
| Connector type: | SMA Female |
| Rec. mating (plug) connector PN: | SMA Male |
| Recommended antenna: | Harxon - GPS600 |
| Recommended cap: |
E14 - Antenna - GPS-RTK
| Operational frequency: | 868 MHz |
|---|---|
| Connector type: | SMA Female |
| Rec. mating (plug) connector PN: | SMA Male |
| Recommended antenna: | Wurth - 2600130081 |
| Recommended cap: |
E15 - Antenna - LTE/4G
| Operational frequency: | 700 ~ 2700 MHz |
|---|---|
| Connector type: | SMA Female |
| Rec. mating (plug) connector PN: | SMA Male |
| Recommended antenna: | Teltonika - PR1CS450 |
| Recommended cap: |
E16 - Auxiliary Data - USB 3.0
This port is directly connected to the internal Linux computer and can be used to add for example additional devices. The port supplies 5V/2A power supply which is shared with the internal Intel Realsense D435i depth camera.
| Available signal: | USB 3.0 |
|---|---|
| Connector type: | USB Type-A 3.0 - Amphenol LTW - UA-30PMFL-SC7B30 |
| Rec. mating (plug) connector PN: | UA-30BFMM-SL7B01 or UA30FL-NAML-SB001 View product page of RCP-5SPFFH-SCM7001 for options |
| Recommended cap: | Amphenol LTW - CAP-WACMSMA1 |
Warning
Not utilizing an 13/16" - 28UN connector for this port will likely risk water & dust damage to the robot when operational.
E17 - Auxiliary Data - Ethernet
This port is directly connected to the internal Linux computer and can be used to connect a laptop to get direct access to the robot or to connect a companion PC to the robot.
| Available signal: | Gigabit Ethernet |
|---|---|
| Connector type: | RJ45 - Amphenol LTW - RCP-5SPFFH-SCM7001 |
| Rec. mating (plug) connector PN: | RCP5SM-RCP5SM-SL7B01 or RCP5SM-SPG06M-SL7B01 View product page of RCP-5SPFFH-SCM7001 for options |
| Recommended cap: | Amphenol LTW - CAP-WACMSMA1 |
Warning
Not utilizing an 13/16" - 28UN connector for this port will likely risk water & dust damage to the robot when operational.
E18 - Debug & programming interface
This port is directly connected to the internal Real-time computer and is hidden behind a waterproof cap that is 4x M3x6 - TX10 screws.
| Available signal: | USB 2.0 |
|---|---|
| Connector type: | USB Type-C 2.0 |
| Rec. mating (plug) connector PN: | Any USB Type-C cable will suffice |
| Recommended cap: | A003-0100-M-DR76-R01 |
Warning
Not securely placing and fastening of the debug port cap will likely risk water & dust damage to the robot when operational.
E19 - Charging port
This port is located on the rear of the robot and is designated for charging the internal Li-Ion batteries of the robot. Only charge the robot with the supplied charger
| Available power: | 50.4V. 250W max. |
|---|---|
| Connector PN: | RM-DEU-2F1S-P02KS |
| Recommended charger PN: | A003-0100-M-PTME-R01 |
| Recommended cap: | ZFG.2F03S.GSH.014-100 |