RIOX1216

Preliminary - Subject to Change

Smart IO
Expansion Card
with Optional
AHRS for
Robotics

Roboteq's I/O eXtender (RIOX) module is an intelligent I/O RIOX is available in a version with an AHRS (Attitude and Head-
expansion card, with an optional Attitude and Heading Refer- ing Reference System (RIOX1216AH), including 3 axis acceler-
ence System (AHRS), that seamlessly integrates with Roboteq ometer, 3 axis gyroscope, 3 axis magnetometer and a Fusion
Motor Controllers. It is intended for use in robotics navigation, algorithm.
unmanned vehicles, machine control, industrial automation and
any other applications that need interfacing to the real world. The RIOX module’s firmware can easily be updated in the field
The RIOX module can also be used stand-alone, or as an IO to take advantage of new features as they become available.
extender to PC, PLC or microcomputer based systems.
Applications
The module features 12 inputs, each of which can be individu-
• Robot navigation
ally configured as digital, 0-5V analog, or as pulse inputs. In the
pulse mode, the inputs can capture pulse width, frequency, • Unmanned air, land, sea and submarine vehicles
duty cycle, or quadrature encoder counts. Each input pin can • Motion stabilization systems
also be configured as a driver for RC servos. • Industrial automation

The RIOX module has Digital Outputs capable of driving resis- • Machine Control
tive loads such as lights, or inductive loads such as relay, sole- • Movie/Stage props
noids or motors up to 1A each at 40V. Each output can be used • Automated Test Equipment
as Input as well.
Features List
The card also includes a 32-bit ARM microcontroller for pro-
cessing and buffering the IO, and managing the communication • Built-in 8V to 40V DCDC Converter. 5V output for local
with motor controllers and/or other components of the system. power and external accessories
The processor can be configured to perform, on its own, a long • Up to 28 Digital Inputs
list of conversion, capture, filtering, or conditioning on the IO. A • Up to 12 Analog Inputs
simple and powerful Basic-like programming language is built
• Up to 12 pulse Inputs
into the card and allows users to write programs that process
the I/O in real time. • 2 Analog Outputs
• 0-5V Analog inputs range, 12-bit resolution
RIOX provides a standard RS232 and RS485 interface for com- • Pulse width, Duty Cycle or Frequency pulse capture
munication to PCs and various peripherals. A CAN bus interface
allows RIOX to be a master or slave in a CAN bus network that • Pulse IO pins configurable as PWM for driving RC servos
can be up to 1000m long and contain up to 127 nodes. CAN bus • Pulse IO pins configurable as interfaces to Ping ultrasound
also allows the simple interfacing to Roboteq motor controllers. distance sensors
• Inputs for up to 3 quadrature encoders
The RIOX module uses screw terminals to ensure easy inser-
• 16 Digital outputs up to 1A each, 40V max
tion and removal while providing a most reliable connection.
• Direct interfacing to Roboteq Magnetic Guide Sensor

RIOX Expansion Card Datasheet 1

• Standard RS232 port for interfacing to computers and • Easy connection to IO using screw terminals
other peripherals • High performance on-board 32-bit ARM Cortex M3 pro-
• CAN bus interface cessor with FPU
• Heartbeat LEDs to indicate proper operation and CAN • Built-in Programming Language for local processing of
communication I/O data in realtime. 50000 lines/s execution time
• Optional AHRS with 3-axis Gyroscope, Accelerometer, • Field upgradable firmware
Magnetometer and Fusion algorithm
• RS485 interface
• Real Time Clock calendar with on-board battery
• 100 words of fast non-volatile RAM

Orderable Product References

TABLE 1.

Reference IO Communication AHRS

RIOX1216 12 Ana/Dig/Pulse Ins, 2 Ana Outs, 16 Dig IO CAN, RS232, RS485 No
RIOX1216AH 12 Ana/Dig/Pulse Ins, 2 Ana Outs, 16 Dig IO CAN, RS232, RS485 Yes

2 RIOX Expansion Card Datasheet Version 1.0. April 01, 2015

 Block diagram

Block diagram
The diagram below shows the RIOX processor.

5V Out
3 Axis
Gyroscope
Accelerometer
Magnetometer
CAN RS232 RS485
Analog/Digita/Pulse

(AHRS Version)
Input Conditioning

Transceiver Driver Driver

IO Connectors

12

ARM Cortex M3 with FPU

IO 5V 8V to 40V
Digital Ouptut

16 Processor DC Input
DC/DC
Driver

3.3V
Converter

RTC
NVRAM

FIGURE 1. RIOX I/O Processor

Module Connectors and LEDs

The RIOX1216 is fitted with LEDs for easy monitoring and diagnostics. LEDs position are shown in the figure
below.

P5 P6 P7

Power
Outputs 1-8 Outputs 9-16
Inputs 13-20 Inputs 21-28

CAN
Status

USB

Inputs 1-4 Inputs 5-8 Inputs 9-12

Y

X
Z

P1 P2 P3 P4

FIGURE 2. RIOX board connectors and status LEDs

RIOX Expansion Card Datasheet 3

Power and Status LEDs
The power LED will lit whenever the module is powered.

The status LED will flash to indicate that the MCU is running. The LED flashing rate and color can change to indi-
cate fault or warning conditions.

CAN Communication LED

The CAN LED will flash whenever data frames are detected on the CAN bus, regardless of the originating and
receiving nodes. The LED will keep flashing up to 1 second after the last packet was detected. LED will flash only
upon receiving data.

Input LEDs
The Input LEDs will lit whenever the voltage at one of the 12 Analog/Digital/Pulse input is above around 2.5V.

Output LEDs
In normal operation, the LEDs located near the Digital Output connector will lit whenever an output is activated.
Digital outputs are Open Drain drivers that can also be used as inputs when they are in the off state. As input,
these lines appear as inputs 13 to 28. When an Output is configured as Input Only, the LED will be lit if a voltage
above 2.5V is present on the terminal. Figure 3 identifies the input, outputs and power terminals.

Digital Inputs Digital Inputs

13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28
Digital Outputs Digital Outputs Power In
1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 GND +VIN

Power
Battery

CAN
CAN USB
RS232
Status
RS485
USB

X
Z

1 2 3 4 5 6 7 8 9 10 11 12 1 2
Digital Inputs Digital Inputs Digital Inputs Analog Outputs

GND
5V Out
FIGURE 3. Input, outputs and power terminals

I/O Terminals
The module uses screw terminals for the IO. The 12 Digital/Pulse/Analog inputs are shared between three 6-posi-
tion terminals. The two Analog outputs are placed on a 3-position terminal. The 16 Digital outputs are shared
between two 10-position terminals. Ground signal are provided on each terminal blocks. A 5V output is provided
on the Digital/Analog/Pulse terminals for powering outside sensors.

4 RIOX Expansion Card Datasheet Version 1.0. April 01, 2015

 Connections to Inputs 1 to 12

Communication I/O Connector Pinout

Pin assignment is found in the table below.

5 1

9 6
FIGURE 4. DSub 9 pin locations

TABLE 2.

Connector Pin Signal Type Description

1 GND Power Power Ground
2 RS232-TxD Output RS232 Transmit Data
3 RS232-RxD Input RS232 Receive Data
4 GND Power Power Ground
5 GND Power Power Ground
6 CANL I/O CAN Low
7 CANH I/O CAN High
8 RS485A I/O RS485 A (Non Inverted)
9 RS485B I/O RS485 B (Inverted)

Power Supply Connector

Power to the module is provided via the 2-pin connector. The RIOX1216 will power up and be immediately func-
tional upon applying a voltage of 8V to 40V.

Powering via USB

Plugging the USB to the module will power it up whether voltage is present on the power connector or not. This
feature allows the card to easily be configured and tested with a PC. When powered via USB, only the module's
internal circuits are powered. No power will be present on the module's 5VOut terminals.

Connections to Inputs 1 to 12
The RIOX module has up to 12 inputs which can be used to capture digital, analog or pulse signals. Each input has
a 53kOhm pull down resistance. In certain conditions, these inputs are also capable of outputing a low power sig-
nal for driving RC Servos or Ultrasound distance sensor.

Digital Input Connection

The diagrams below show how to connect switches to the input. A DC voltage can also be applied and a logic 1
will be detected above 2.5V.

RIOX Expansion Card Datasheet 5

 5V Out

1K 1kOhm
to
10K
20kOhm

1K DIN
to 33kOhm
10K

Ground

FIGURE 5. Pull down and Pull up switch wiring

Analog/Pulse Input Connection

DC, Pulse or AC voltage sources can be applied directly to the input. Analog captures must be configured in Abso-
lute mode.

Potentiometers and other ratiometric sensors can use the 5V output available on the I/O connector. For best pre-
cision, capture must then be configured in Relative mode, to compensate fluctuations in the 5V output.

5V Out

1kOhm
1K
to
10K 20kOhm

DIN
33kOhm

Ground

FIGURE 6. Analog/Pulse and Potentiometer wiring

Connection to RC Servos
All input pins can also be used to drive RC servos. The servos should be powered from an external voltage source
and only be connected to the module’s 5V output if they consume little power. When powered from the module,
insert a 500uF/10V capacitor or higher. RIOXs output drive capability is limited and not all servos may be compati-
ble with the output signal. A pull down resistor at the pin may be required in some condition to make it work.

5V Out

1kOhm
+

- 20kOhm

DIN
33kOhm

Ground
FIGURE 7. RC Servo wiring

6 RIOX Expansion Card Datasheet Version 1.0. April 01, 2015

 Connections to Inputs 1 to 12

Connection to Ultrasound Sensor

All inputs can be used to interface directly to inexpensive Parallax Ping ultrasound distance sensors.

Digital Output Connections

The 16 Digital Outputs are Open Drain MOSFET outputs capable of driving over 1A at up to 40V. Since the outputs
are Open Drain, the output will be pulled to ground when activated. The load must therefore be connected to the
output at one end and to a positive voltage source (e.g. a battery) at the other. Inductive loads must have a diode
across the coil to prevent high voltage damage to the output driver.
Resistive and inductive loads can be connected simply as shown in the diagrams below.

Relay, Valve
Motor, Solenoid
Lights, LEDs, or any other or other Inductive Load
non-inductive load

+ +
Up to Up to
24V 24V
DC DC Internal
- DOUT Internal - DOUT Transistor
Transistor

Ground Ground

FIGURE 8. Connecting loads to DOUT pins

Digital Outputs as Inputs

The Driver of Digital Outputs 1-16 has a read-back function allowing to read the presence or absence of voltage at
the terminal. Using this function, the Output pins can be used as extra inputs. The diagram below shows the var-
ious ways to wire a switch or voltage source to the input.

+5V Out

1K
to 50K Input
10K Buffer
DIN13 to DIN28
(DOUT1 to DOUT16)

1K
V to
4.7K Output
Driver

Voltage Pull Up Pull Down GND

Switch Switch

FIGURE 9. Digital Output used as Input

Note that for this function to work, the output must be in the off state, or configured as Input Only.

RIOX Expansion Card Datasheet 7

Analog Output Connection
The two analog outputs will generate a voltage ranging from 0 to 3300 mV. The output is connected directly to an
operational amplifier with limited current drive capability. It should therefore only be connected to relatively high
impedance loads (1kOhm or higher).

Electrical Specifications

Absolute Maximum Values

The values in the table below should never be exceeded, permanent damage to the card may result.

TABLE 3.

Parameter Measure point Min Typ Max Units

Power Supply Voltage Ground to Vin 40 Volts
Reverse Voltage on Battery Leads Ground to Vin 40 Volts
Digital Output Voltage Ground to Output pins 40 Volts
Analog and Digital Inputs Voltage Ground to any signal pin on user connectors 15 Volts
RS232 I/O pins Voltage External voltage applied to Rx/Tx pins 15 Volts
Board Temperature Board -40 85 oC
Humidity Board 100 (1) %
Note 1: Non-condensing

Power Stage Electrical Specifications

TABLE 4.

Parameter Measure point Min Typ Max Units

Operating Voltage Ground to Vin 8 40 Volts
Operating Current Ground to Vin 50(1) mA
5V Output Voltage Ground to 5V pins on user connectors 4.6 4.75 4.9 Volts
5V Output Current 5V pins on 40-pin connector 500 (2) mA
Digital Output Voltage Ground to Output pins 40 Volts
Digital Output Current Output pins, sink current 1 (4) Amps
Output On resistance Output pin to ground 0.75 1.5 Ohm
Output Short circuit threshold Output pin 1.05 1.4 1.75 Amps
Input Impedances ADIN Input to Ground 53 kOhm
Digital Input 0 Level Ground to Input pins -1 1 Volts
Digital Input 1 Level Ground to Input pins 3 15 Volts
Analog Input Range Ground to Input pins 0 5.1 Volts
Analog Input Precision Ground to Input pins 0.5 %
Analog Input Resolution Ground to Input pins 1 mV
Analog Output Range Ground to Input pins 0 3.3 Volts
Analog Output Resolution Ground to Input pins 12 bits
Pulse durations Pulse inputs 20000 10 us
Pulse repeat rate Pulse inputs 50 250 Hz

8 RIOX Expansion Card Datasheet Version 1.0. April 01, 2015

 Electrical Specifications

TABLE 4.

Parameter Measure point Min Typ Max Units

Pulse Capture Resolution Pulse inputs 1 us
Frequency Capture Pulse inputs 100 10000 Hz
Encoder count Internal -2.147 2.147 10^9
Counts
Encoder frequency Encoder input pins 1000 kHz
Note 1: Current decreases as input voltage increases
Note 2: Sum of all 5VOut outputs
Note 3: Total average current on all outputs of a driver not to exceed 4.5A

Operating & Timing Specifications

TABLE 5.

Parameter Measure Point Min Typ Max Units

Command Latency Command to output change 1 0.5 1 ms
IO Update rate Internal 1000 Hz
RS232 baud rate Rx & Tx pins 115200 (1) Bits/s
Note 1: Default 115200, 8-bit, no parity, 1 stop bit, no flow control

Scripting

TABLE 6.

Parameter Measure Point Min Typ Max Units

Scripting Flash Memory Internal 32768 Bytes
Max Basic Language programs Internal 2000 3000 Lines
Integer Variables Internal 1024 Words (1)
Boolean Variables Internal 1024 Symbols
Execution Speed Internal 50 000 100 000 Lines/s
Note 1: 32-bit words

RIOX Expansion Card Datasheet 9

Reading/Setting Configuration and Accessing I/O via Serial
USB, RS232 and RS485 serial communication can be used to read and change the many configuration and operat-
ing parameters of the RIOX. It can also be used to read and write I/O. A set of commands are available for this
purpose and described in the serial commands section of this document.

AHRS
The RIOX1216AH is equipped with a 3-axis Accelerometer, Gyroscope and Magnetometer. A special algorithm
“fuses” the data of each of these sensors to give the board’s Attitude and Heading. The board’s Pitch, Roll and
Yaw angles is given using Euler angles or Quaternions. Figure below shows the angles relative to the board hard-
ware.

Accel Z
Gyro Z Mag Z

- +
Yaw Gyro X Accel Y
Roll Mag Y
+ -
Accel X
Mag X
Accel Z
Accel X Mag Z
Mag X

Gyro Y
Pitch
+ -

FIGURE 10. Sensors and AHRS references

Sensor Monitoring with PC Utility

The value of each sensor can be plotted in real time using the supplied PC utility. The utility’s chart recorder has
six tracks, each of which can be assigned to a sensor output. Sensor data can be saved in a log for later analysis.

The AHRS Pitch, Roll and Yaw data is used to animate a 3D figure that, with proper calibration, will move on the
screen the same way as the board is moved. The AHRS output angles can also be plotted and logged in the 2D
chart.

Sensor Calibration
The sensor must be calibrated before using it for the first time. For the magnetometer in particular, the calibration
must be done in the actual place where the board will be used, in order to take into account the possible distor-
tion to the magnetic field induced that the surrounding hardware. Calibration is done using the PC utility in the
Setup tab, in two steps.

The Gyroscope zero offset must first be calibrated. This is done by leaving the RIOX on a surface (in any position)
and make sure it does not move. Click then the Gyroscope Calibration button. The offset will be measured and
stored into the RIOX’s EEPROM. You can verify that the calibration was successful by monitoring the Gyroscope
data in the chart recorder. A small amount of noise (approx. +/- 20) will show in the chart instead of 100 or more
for an uncalibrated gyroscope.

10 RIOX Expansion Card Datasheet Version 1.0. April 01, 2015

 Using the PC Utility

The AHRS calibration process requires that the sensor be rotated in every direction, in every angle, for approxi-
mately one minute. The rotation must be made while keeping the board in the same location in space, i.e. not
moved laterally, up or down). The collected data is then analyzed to automatically determine a couple of dozen
parameters needed by the AHRS fusion algorithm to work correctly. A button is provided on the setup screen of
the PC utility. It must be pressed only after gyroscope calibration. Once pressed, the utility will prompt you on
what to do next. At the end of the process, the new calibration values are stored in RIOX’s RAM and are effective
immediately. You must click on Save to Device for the calibration to be stored in the RIOX’s EEPROM and then
automatically reloaded every time the board is powered up.

Using the PC Utility

A powerful utility is available for download from Roboteq's web site for setting up, monitoring and performing
maintenance functions. While RIOX is delivered ready to use right off the box, it contains many parameters that
can easily be changed using user-friendly menus. The utility can be used for testing and troubleshooting, for per-
forming field updates of the RIOX firmware and for editing and running scripts.

Real Time Gyroscope and Accelerometer Values Chart

RIOX
Setup

AHRS Realtime 3D View Data Logger

FIGURE 11. RIOX PC Configuration Utility

MicroBasic Scripting
The RIOX features the ability for the user to write programs that are permanently saved into, and run from the
card’s Flash Memory. This capability is the equivalent of combining the functionality of a PLC or Single Board
Computer directly into the expansion card. The language is a very simple, yet powerful language that resembles

RIOX Expansion Card Datasheet 11

 Basic. Scripts can be simple or elaborate, and can be used for various purposes. Language description and refer-
ence can be found on the Roboteq web site.

Command Reference Summary

RIOX accepts a number of commands via its serial port for reading operational data, sending commands, setting
configuration, and performing maintenance. Commands can be sent from any port: RS232, RS485, TTL Serial and
are processed as they arrive.

Real Time Queries

These are commands for reading RIOX data. They begin with the question mark character. Table 7 shows the list
of supported queries.

Each time a query is executed, it is stored in a history buffer and may therefore be automatically repeated at a
periodic rate using the # character with the following syntax:

# repeat last query in queue

# nn repeat last queries ever nn ms. Example: # 100 to execute one query from the history queue every 100ms
#C clear queue

TABLE 7.

Query Arguments Description

AI [InputNbr] Read Analog Inputs
AIC [InputNbr] Read Analog Inputs Converted
B [VarNbr] Read User Boolean Variable
C [Channel] Read Absolute Encoder Count
CAN [Channel] Read Raw CAN Message
CF [Channel] Read Raw CAN Received Frames Count
D [InputNbr] Read All Digital Inputs
DI [InputNbr] Read Individual Digital Inputs
DO none Read Current Digital Outputs
EO [Channel] Read AHRS Degrees Output
FID none Read Firmware ID String
MA [Channel] Read AHRS Q Out
MBB [VarNumber] Read Microbasic Integer Variable
MBV [VarNumber] Read Microbasic Boolean Variable
MG [Channel] Read MEMS Gyroscope
MGD none Read Magsensor Track Detect
MGM [Channel] Read Magsensor Markers
MGS none Read Magsensor Status
MGT [Channel] Read Magsensor Track Position
ML [Channel] Read all MEMS
MM none Read Magnetometer
PI [InputNbr] Read Pulse Inputs
PIC [InputNbr] Read Pulse Inputs Converted
QO [Channel] Read AHRS Quaternion Output
T none Read IC Temperatures

12 RIOX Expansion Card Datasheet Version 1.0. April 01, 2015

 Command Reference Summary

TABLE 7.

Query Arguments Description

TM [Channel] Read Time
TRN none Read Power Unit Tree filename
V none Read 5V output
VAR [VarNumber] Read User Integer Variable

Real Time Commands

These are commands used to instruct RIOX to do something. They begin with the exclamation mark character.
Table 8 shows the list of supported commands

TABLE 8.

Command Arguments Description

AO Value
B Value Set User Boolean Variable
C Channel Counter Set Encoder Counters
CS Var number Value Send Raw CAN frame
D0 BitNumber Reset Individual Digital Out bits
D1 BitNumber Set Individual Digital Out bits
DS Value Set all Digital Out bits
EES None Save Config to Flash
R Option Run MicroBasic Script
RC Channel RCPulse Set RC Pulse Out
VAR Value Set User Variable

Configuration Commands
These commands are used to read or modify the configuration parameters. They begin with the ~ character for
reading and the ^ character for writing. Table 9 shows the list of supported configuration commands. However, it
is easier and preferable to use the PC utility menus for inspecting and changing configurations. If changing manu-
ally, remember to save the new configuration to flash with the %EESAV. Otherwise, RIOX will revert to the previ-
ously active configuration next time it is powered on.

TABLE 9.

Command Argument Default Description

ACTR InputNbr 2500 Analog Center
ADB InputNbr 5% Deadband
ALIN InputNbr Linear Analog Linearity
AMAX InputNbr 5000 Analog Max
AMIN InputNbr 0 Analog Min
AMOD InputNbr Absolute Analog Input Mode
AOS none ADInput Source of Analog Output value
APOL InputNbr Direct Analog Input Polarity
BRUN none Disabled MicroBasic Auto Start
CBR none 250Kbit/s CAN Bit Rate
CEN none Disabled CAN Mode Select

RIOX Expansion Card Datasheet 13

 TABLE 9.

Command Argument Default Description

CHB none 100ms CAN HeartBeat
CLSN none 0 CAN Listening COB
CNOD none 1 CAN Node Address
CSRT none 0 CAN SendRate
DINL InputNbr Direct Digital Input Active Level
DOL InputNbr Direct Digital Output Level
DOS none RPI Digital Output Source
ECHOF none Echo On Disable/Enabe RS232 & USB Echo
EE Address 0 User EE Storage
EQS none Euler Euler or Quaternion
INS Channel ADinput Digital Input Source
PCTR InputNbr 1500 (us) Pulse Center
PDB InputNbr 5% 5% Pulse Deadband
PLIN InputNbr Linear Pulse Linearity
PMAX InputNbr 2000 (us) Pulse Max
PMIN InputNbr 1000 (us) Pulse Min
PMOD InputNbr RC Pulse Pulse Input Mode
POS none RPI Pulse Output Source
PPOL InputNbr Direct Pulse Input Polarity
RSBR none 115200 Set RS232 bit rate
SCRO none Last Used Select Print output port for scripting

Maintenance Commands
These commands are used to perform maintenance functions. They begin with the % character. Table 10 shows
the list of supported configuration commands.

TABLE 10.

Command Arguments Description

CLRST Key 321654987 Load Factory default configs
CLSAV Key 321654987 Calibration values to EEPROM
EELD Load Parameters from EEPROM
EERST Key 321654987 Restore Factory Defaults
EESAV Save Parameters to EEPROM
FUPD Key 321654987 Enter Firmware Update Mode
GREF Sets Gyro 0 Ref
RESET Reset Controller
SLD Load Minibasic scripts
STIME Set Time
YREF Sets Yaw 0 Ref

14 RIOX Expansion Card Datasheet Version 1.0. April 01, 2015