| Signal | Connected To | Notes | |
| Ground | |||
| +5V | |||
| D7 | U302-19 | Tape In | |
| D6 | U302-16 | Steer Limit | |
| D5 | U302-15 | Arm Limit (up) | |
| D4 | U302-12 | Head Limit | |
| D3 | U302-9 | Steer Limit | |
| D2 | U302-6 | Arm Limit (down) | |
| D1 | U302-5 | Head Limit | |
| D0 | U302-2 | Speech |
Copyright © 1992 Donnie V. Savage
All Rights Reserved.