Controllers

In the table below:

Board: which FPGA/QLA board set
I/O: whether Input (I) or Output (O), followed by bit number
QLA: signal name on QLA schematics
MTM: use of this I/O by MTM controller
PSM: use of this I/O by PSM controller
ECM: use of this I/O by ECM controller
SUJ/dSIB: use of this I/O for setup joint controller
dMIB pin: which connector (DOF1-DOF8 or FP) and pin number (after :). Note that DOF1-DOF7 are HD15 connectors, DOF8 is a HD26 connector, and FP (footpedal) is a DB15 connector.

Board	I/O	QLA	MTM	PSM	ECM	SUJ/dSIB	dMIB pin
1	I:0	HOME1	daVinci Head	SUJ Clutch	Manip Clutch	Clutch 1	DOF1:7
1	I:1	HOME2				Clutch 2	DOF2:7
1	I:2	HOME3		Manip clutch	SUJ Clutch	Clutch 3	DOF3:7
1	I:3	HOME4	dVRK head			Clutch 4	DOF4:7
1	I:4	POSLIM1	daVinci Head			MotorUp	DOF1:3
1	I:5	POSLIM2				MotorDown	DOF2:3
1	I:6	POSLIM3					DOF3:3
1	I:7	POSLIM4					DOF4:3
1	I:8	NEGLIM1	daVinci Head				DOF1:5
1	I:9	NEGLIM2					DOF2:5
1	I:10	NEGLIM3					DOF3:5
1	I:11	NEGLIM4					DOF4:5
1	O:0	DOUT1	Endoscope Or daVinci Head			NoMuxReset	DOF1:14
1	O:1	DOUT2	Endoscope			MuxIncrement	DOF2:14
1	O:2	DOUT3				ControlPWM	DOF3:14
1	O:3	DOUT4				DisablePWM	DOF4:14
2	I:0	HOME1	Foot pedal				DOF5:7, FP:5
2	I:1	HOME2	Foot pedal				DOF6:7, FP:12
2	I:2	HOME3	Foot pedal				DOF7:7, FP:10
2	I:3	HOME4	Foot pedal				FP:1
2	I:4	POSLIM1	Foot pedal				DOF5:3, FP:6
2	I:5	POSLIM2	Foot pedal				DOF6:3, FP:4
2	I:6	POSLIM3		Dallas-In			DOF7:3
2	I:7	POSLIM4		Tool
2	I:8	NEGLIM1					DOF5:5
2	I:9	NEGLIM2					DOF6:5
2	I:10	NEGLIM3		Adaptor			DOF7:5
2	I:11	NEGLIM4	Arm	Arm	Arm
2	O:0	DOUT1					DOF5:14
2	O:1	DOUT2					DOF6:14
2	O:2	DOUT3		Dallas-Out			DOF7:14
2	O:3	DOUT4	HE Select				DOF8:16

Explanation of signals:

Adaptor indicates whether the sterile adapter is present
Tool indicates whether a tool (instrument) is present
Arm is an "arm present" signal, which indicates that the arm (MTM, PSM or ECM) is connected
HE Select can be used to select which Hall effect sensor (of the two in the MTM gripper) is read by the system. For this to be enabled, there must be a jumper between pins 1 and 2 of J12 on the dMIB.
daVinci Head is an interface to the head-in sensor integrated in the full da Vinci console (see below). It is not typically present in dVRK systems. The above pinout assumes it is connected to DOF1 on the back of the controller.
dVRK head is a custom head-in sensor developed for the dVRK (see below). The above pinout assumes it is connected to DOF4 on the back of the controller.
Endoscope enables software control of the endoscope focus (see below). The above pinout assumes it is connected to both DOF1 and DOF2 on the back of the controller.
Dallas-In and Dallas-Out are proposed as the interface to the Dallas PROM chip inside instruments, which would enable reading of the instrument name.

External devices

Board	I/O	Function
1	I:3	Head

Board	I/O	Function
1	O:0	EndoscopeFocusIn
1	O:1	EndoscopeFocusOut