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Related Manuals for ActivMedia Robotics 3TM
Summary of Contents for ActivMedia Robotics 3TM
- Page 1 Pioneer 3™ & Pioneer 2™ H8-Series Operations Manual...
- Page 2 The various names and logos for products used in this manual are often registered trademarks or trademarks of their respective companies. Mention of any third-party hardware or software constitutes neither an endorsement nor a recommendation. Pioneer 3 & Pioneer 2 H8-Series Operations Manual, version 3, August 2003...
- Page 3 Important Safety Instructions Read the installation and operations instructions before using the equipment. Avoid using power extension cords. To prevent fire or shock hazard, do not expose the equipment to rain or moisture. Refrain from opening the unit or any of its accessories. Keep wheels away from long hair or fur.
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Page 4: Table Of Contents
... 7 IONEER EGACY Pioneer 1 and AT... 8 Pioneer 2 and PeopleBot ... 8 New Pioneer 3 and Recent Pioneer 2-DX8, -AT8, and Plus Mobile Robots ... 9 ... 10 ODES OF PERATION Server Mode... 10 Maintenance and Standalone Modes ... 10 Joydrive and Self Test Modes ... - Page 5 ISCONNECTING ...27 UICKSTART ROUBLESHOOTING Proper Connections...27 SRIsim ...28 CHAPTER 5 JOYDRIVE AND SELF-TESTS ...29 ...29 OYDRIVE ...30 NGAGING ESTS CHAPTER 6 ACTIVMEDIA ROBOTICS OPERATING SYSTEM...31 LIENT ERVER OMMUNICATION Packet Checksum...32 Packet Errors ...32 ...33 ERVER NFORMATION ACKETS ...34 LIENT OMMANDS...
- Page 6 AROS ... 54 AROS ... 54 TARTING AROS O ONFIGURING PERATING Interactive Commands ... 55 Changing Parameters... 55 ... 56 PID P ... 56 ARAMETERS ... 58 ICKSMM AND EVCOUNT ... 59 TALL AL AND TALL OUNT ... 59 UMPERS CHAPTER 8 MAINTENANCE &...
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Page 7: Chapter 1 Introduction
Pioneer 3-DX or –AT, or Pioneer 2-DX8/DX8 Plus and –AT8/AT8 Plus mobile robot, and to begin developing your own robotics hardware and software. For operation of previous versions of Pioneer 2 which use the Siemens C166-based... -
Page 8: User-Supplied Components / System Requirements
We maintain several email-based newsgroups through which ActivMedia robot owners share ideas, software, http://robots.activmedia.com website for more details. To sign up for pioneer-users, for example, send an e-mail message to the –requests automated newsgroup server: To: pioneer-users-requests@activmedia.com From: <your return e-mail address goes here>... -
Page 9: Support
Access to the pioneer-users newslist is limited to subscribers, so your address is safe from spam. However, the list currently is unmoderated, so please confine your comments and inquiries to issues concerning the operation and programming of Pioneer or PeopleBot robots. -
Page 10: Chapter 2 What Is Pioneer
AMILY OF ICROCONTROLLERS AND The original Pioneer 1 mobile robot had a microcontroller based on the Motorola 68HC11 microprocessor and powered by Pioneer Server Operating System (PSOS) software. The first generation of Pioneer 2 and PeopleBot robots use a Siemens C166-based microcontroller and Pioneer 2 Operating System (P2OS) software. -
Page 11: Hitachi H8S- Based Microcontroller
Accordingly, client software written to operate a six-year old Pioneer AT will work with a brand new Pioneer 3. We’ve taken great care to have all client commands for control of that original Pioneer 1 work identically in our latest robots. -
Page 12: Client Software
OFTWARE All ActivMedia robots operate as the server in a client-server environment: controllers handle the low-level details of mobile robotics, including maintaining the platform’s drive speed and heading over uneven terrain, acquiring sensor readings, such as the sonar, and managing attached accessories like the Gripper. To complete the client-server architecture, ActivMedia robots require a client connection: software running on a computer connected with the robot’s controller via the HOST serial link and... -
Page 13: Saphira
(“world”). IONEER EGACY Commercially introduced in Summer 1995, Pioneer 1 is the original platform. It came with a single-board 68HC11-based robot microcontroller and the Pioneer Server Operating System (PSOS) software. Its low-cost and high-performance caused an explosion in the number of researchers and developers who now have access to a real, intelligent mobile robotic platform. -
Page 14: Pioneer 1 And At
Performance PeopleBot robots used a high- Price/performance ratio included! The much more capable and expandable Pioneer 2 was introduced four years later for just a few hundred dollars (US) more than the original Pioneer 1. Figure 5. The original Pioneer 1s same. -
Page 15: New Pioneer 3 And Recent Pioneer 2-Dx8, -At8, And Plus Mobile Robots
Saphira, ARIA, and others, in order to take full advantage of AROS. To the relief of those who have invested years in developing software for Pioneer 1 and 2, Pioneer 3 truly does combine the best of the new mobile robot technologies with ActivMedia’s tried-and-true robot architecture. -
Page 16: Modes Of Operation
We typically provide the maintenance utilities and AROS upgrades free for download from our website, so be sure to sign up for the pioneer-users email newslist. That's where we notify our customers of the upgrades, as well as where we provide access to ActivMedia robot users worldwide. -
Page 17: Chapter 3 Specifications & Controls
Specifications & Controls Chapter 3 ActivMedia’s Pioneer robots may be smaller than most, but they pack an impressive array of intelligent mobile robot capabilities that rival bigger and much more expensive machines. For example, the Pioneer 3-DX with onboard PC is a fully autonomous intelligent mobile robot. -
Page 18: Main Components
Deck Figure 10. Components of the Pioneer 3 The original Pioneer 2-DX, CE, and AT decks are one piecethe top plate of the robot. The newer DXe and AT, and now the DX8/DX8 Plus, AT8/AT8 Plus, and Pioneer 3 models have hinged top-plates which give you much easier access to the internal components of the robot. -
Page 19: User Control Panel
ActivMedia Robotics User Control Panel The User Control Panel is where you have access to the AROS-based onboard microcontroller. Found inside the AT’s hinged access panel on the deck or on the left- side panel of the DX, it consists of control buttons and indicators, and an RS232- compatible serial port with a 9-pin DSUB connector. -
Page 20: Body, Nose, And Accessory Panels
Ethernet, onboard computer, laser range finder, and more. On all models except the Pioneer 2-CE, a hinged rear door gives you easy access to the batteries, which you may quickly hot-swap to refresh any of up to three batteries. -
Page 21: Motors, Wheels, And Position Encoders
All Pioneer 3 robots now come with pneumatic tires so that you may configure your robot for differing terrains. In any configuration, however, be careful to inflate the tires evenly and adjust the respective Ticksmm and rotational Revcount FLASH parameters for proper operation. -
Page 22: Battery Indicators And Low Voltage Conditions
and slide each battery out of its bay. Spring contacts on the robot’s battery power board alleviate the need for manually attaching and detaching power cables or connectors. Balance the batteries in your robot. Battery life, of course, depends on the configuration of accessories and motor activity. AT charge life typically ranges from two to three hours. -
Page 23: Docking /Charging System
(up to 5.5 A) for operation of all onboard systems. The charging mechanism and onboard power conditioning circuitry can be retrofitted to all Pioneer 3 and some Pioneer 2 and PeopleBot robots; all require return to the factory. Manual Operation (Robot Power OFF) With MAIN POWER off, place the robot over the charge platform so that its charging contacts are perpendicular to and, when deployed, contact the charger plates. -
Page 24: Radio Controls And Accessories
Specifications and Controls mechanism. And the charging mechanism will not activate until you disengage the motors, either manually or programmatically. ADIO ONTROLS AND CCESSORIES All ActivMedia robots are servers in a client-server architecture. You supply the client computer to run your intelligent mobile-robot applications. The client can be either an onboard piggy-back laptop or embedded PC, or an offboard PC connected through radio modems or wireless serial Ethernet. -
Page 25: Onboard Pc
NBOARD Unlike the original Pioneer 1, Pioneer 2 and 3 robots are designed to support an onboard, internally integrated PC for fully autonomous operation. Mounted just behind the nose of the robot, the PC is a common EBX form-factor that comes with up to four serial ports, 10/100Base-T Ethernet, monitor, keyboard, and mouse ports, two USB ports, and support for floppy, as well as IDE hard-disk drives. -
Page 26: Operating The Onboard Pc
2000®) or RedHat® Linux (currently version 7). particular) and support those OSes on the onboard PC. When we perform the installation and configuration, we install our robotics and accessory software typically in /usr/local on Linux systems, or in C:\Program Files\ActivMedia Robotics under Windows. Of course, we install the appropriate drivers for the various accessory expansion cards, such as for a framegrabber or sound card. -
Page 27: Ups And Genpower
AROS versions 1.6 and later raises the HOST serial port's RI pin 9 to RS232-level high when the P2-H8 controller is operating normally, but when your robot’s battery power drops the The original Pioneer 2 Motor-Power boards implemented a similar strategy in hardware. -
Page 28: Safety Aros Watchdogs
below safe operating level of ~11 VDC. system or ups.exe running under Windows, detects the change of state and initiates OS shutdown after a short wait, during which the shutdown may be canceled by raising the battery voltage, such as by attaching a charger. Genpowerd monitors the HOST serial RI port on /dev/ttyS0. -
Page 29: Chapter 4 Quick Start
CD-ROM with your new robot. They also come installed in your robot’s onboard PC, if you purchased this option. ActivMedia Robotics customers also may obtain ARIA and related software and updates from our support website: http://robots.activmedia.com... -
Page 30: Install Batteries
Install Batteries Out of the box, your ActivMedia robot comes with its batteries fully charged, although shipped separately, unless you have the automated docking/charging system. For most models, slide one or up to three batteries into robot’s battery box through the back door. Balance them: one in the center;... -
Page 31: Demo Startup Options
Windows users may select the ARIA demo from the Start menu, in the ActivMedia Robotics program group. Otherwise, start if from the ARIA bin\ directory. Linux users will find the compiled demo in /usr/local/Aria/bin/ or in examples/. Start % ./demo... -
Page 32: A Successful Connection
A Successful Connection ARIA prints out lots of diagnostic text as it negotiates a connection with the robot. If successful, the client requests various AROS servers to start their activities, including sonar polling, position integration, and so on. The microcontroller sounds an audible connection cue, and you should hear the robot’s... -
Page 33: Disconnecting
as a demonstration tool, but as a diagnostic one, as well, if you suspect a sensor or effector has failed or is working poorly. Access each ARIA demo mode by pressing its related hot-key;‘t’, for instance, to select teleoperation. Each mode includes onscreen instructions and may have sub-menus for operating of the respective device. -
Page 34: Srisim
Quick Start To test for range limits, simply pick up the robot and move it closer to the basestation radio modem or access point. If the robot was out of range, the connection should resume. If not, check to make sure that radio modems were not inadvertently switched OFF. -
Page 35: Chapter 5 Joydrive And Self-Tests
Joydrive and Self-Tests Chapter 5 Although not all models come standard with a joystick port, your robot’s H8S-based controller has a joystick connector and AROS contains a joydrive server for manual operation. And AROS comes with a short self-test routine for your robot’s drive system. To run in either joydrive or self-test mode, start up or RESET the robot into its AROS wait state. -
Page 36: Engaging Self -Tests
Joydrive and Self Tests NGAGING ESTS To enable self-test mode, press the white MOTORS button twice after startup or RESET. ATTENTION! Place your robot on the floor or ground and have everyone step back before engaging self-tests. Currently, the only AROS self-test exercises your ActivMedia robot’s drive motors. During this test, the robot is not at all conscious of bystanders. -
Page 37: Chapter 6 Activmedia Robotics Operating System
Experienced ActivMedia robot users can be assured that AROS is upwardly compatible with all ActivMedia robots, implementing the same commands and information packets that first appeared in the Pioneer 1-based PSOS and in the original Pioneer 2-based P2OS. AROS, of course, extends the servers to add new functionality, improve performance, and provide additional information about the robot's state and sensing. -
Page 38: Packet Checksum
HOST serial port’s baud rate is set to 9,600 kbps. Because of the real-time nature of client-server mobile-robotics interactions, we made a conscious decision to provide an unacknowledged communication packet interface. -
Page 39: Server Information Packets
ERVER NFORMATION ACKETS Like its PSOS and P2OS predecessors, AROS automatically and repeatedly sends a packet of information over its HOST serial port to a connected client. The standard AROS SIP informs the client about a number of operating states and readings, using the order and data types described in the nearby Table. -
Page 40: Client Commands
LIENT OMMANDS AROS has a structured command format for receiving and responding to directions from a client for control and operation of your ActivMedia robot or the simulator. Client commands are comprised of a one-byte command number optionally followed, if required by the command, by a one-byte description of the argument type and then the argument value. - Page 41 Gripper or PeopleBot manual for details. Selects the A/D port number for reporting Anport ADSEL value in standard SIP. Gripper server values. See Pioneer 2 Gripper or GRIPPERVAL PeopleBot manual for details. none Request one (1), a continuous stream (>1), or stop GRIPREQUEST (0) Gripper SIPs.
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Page 42: The Client -Server Connection
to AUX2 H8S serial port Request to retrieve 1-200 bytes from the AUX2 GETAUX H8S serial port; 0 flushes the buffer. 1 to deploy autocharging mechanism; 0 to retract CHARGE Arm-related commands; see manual for details Change working rotation Proportional PID value ROTKP (not FLASH default) Change working rotation Derivative PID value... -
Page 43: Autoconfiguration (Sync2)
The class and subclass are constants normally set at the factory and not changed thereafter. (See next chapter for details.) The class string typically is Pioneer. The subclass depends on your robot model; P2D8 or P2AT8, for example. Clients may use these identifying strings to self-configure their own operating parameters. -
Page 44: Motion Commands
With AROS versions 1.3 and later, many of the controller’s operating parameters return to their FLASH-based default values upon disconnection with the client. the FLASH default for the maximum velocity is 1000 millimeters per second, and your client uses the SETV command #6 to reset the maximum velocity to 500 millimeters per second, the maximum velocity automatically will revert back to 1000 after your client disconnects and then reconnects for a subsequent session. -
Page 45: Activmedia Robots In Motion
ActivMedia Robots in Motion ActivMedia robots use position, as opposed to velocity, motion controls to translate the platform a certain distance and turn it to a particular heading. To achieve constant translational (VEL), rotational (ROTATE), or independent-wheel (VEL2) velocities, the servers simply set the target position well ahead of the robot’s current position. -
Page 46: Pid Controls
At the same time, AROS reports back to the client in the standard SIP the robot’s position and speed. Not all robots convert these values into platform-independent units. ARIA and Saphira clients rely on conversion factors found in your robot’s respective “.p” parameter file to make the necessary conversion. -
Page 47: Position Integration
Position Integration ActivMedia robots, including Pioneer 2s and 3s, track their position and orientation based on dead-reckoning from wheel motion derived from encoder readings. maintains its internal coordinate position in platform-dependent units, as reported in the standard SIP (Xpos, Ypos, and Thpos). -
Page 48: Stalls And Emergencies
sonar array number one; numbers nine through 16 get added to the sequence for sonar array number two; 17-24 specify the sequence for array three; and 25-32 are for array four. You may include up to 16 sonar numbers in the sequence for any single array. Only those arrays whose sonar numbers appear in the argument get re-sequenced. -
Page 49: Accessory Commands And Packets
Several types of alternative server information packets (SIPs) come with AROS to better support the ActivMedia Robotics community. On request from the client by a related AROS command, the AROS server packages and sends one or a continuous stream of information packets to the client over the HOST serial communication line. -
Page 50: Configpac And Config Command
received a command from a client. Restarts on restoration of connection. byte 1 enables alternative SIP. PACS Maximum PWM before stall. If > PwmMax, never. TALL Ms time after a stall for recovery. Motors not engaged TALL OUNT during this time. Joystick translation velocity setting, mm/sec Joystick rotation velocity setting in deg/sec Current max rotational speed;... -
Page 51: Host-To-Aux Serial Transfers
Checksum integer Gripper packets AROS controls the Gripper accessory for the Pioneer and Performance PeopleBot robots. The client sends commands to the Gripper servers and gets Gripper status information from the standard SIP. Please consult the respective manuals for details. -
Page 52: Sounds
Unlike its ActivMedia robot cousins, the AmigoBot mobile robot has onboard sound reproduction hardware and software that includes a playlist of contents. To support the ActivMedia Robotics Interface for Applications (ARIA) that includes all ActivMedia’s robots, we’ve included the PLAYLISTpac (type = 208; 0xD0) and PLAYLIST request command 91 in AROS. -
Page 53: Onboard Pc
HOST COM1 to the CTS signal pin of the adjacent COM2 port of the onboard PC for the feature. For convenience, the Versalogic VSBC8 PC found onboard most recent Pioneer 2s shares its 20-pin connector on the PC's motherboard with COM1 and COM2. So, to implement Windows ups.exe-enabled low-power shutdown, we jumper pin 8 (COM1 RI) to... -
Page 54: Input Output (I/O)
modifications to the robot's heading are done on the client side, as supported in the latest versions (1.3 and later) of ARIA. To enable the gyro, you must set the HasGyro FLASH parameter to 1 using the AROScf tool (see next chapter). Set it to 0 if the gyro isn't attached. Then to acquire gyro data, send the GYRO client command #58 with integer argument of one;... -
Page 55: Bumper And Ir I/O
For example, here’s the AROS client command to set digital output ports one and three (OD1 and OD3), reset port four (OD4), and leave all the rest alone (hexadecimal notation): 0xFA, 0xFB, 0x06, 0x1E, 0x1B, 0x19, 0x09, 0x37, 0x24 Bumper and IR I/O Two 10-position latching IDC connectors on the H8S controller provide 16 digital input ports, normally used for the bumper accessory, but also available for your own attachments. -
Page 56: Expansion I/O
Many other ports also appear at that connector, but are not yet supported in AROS. These output ports and the charge-sensing User I/O-based digital input ports (see below) do not interfere with the Pioneer/PeopleBot Gripper. This way, your robot may... -
Page 57: Monitoring The Recharge Cycle
disengage the motors while charging, such as by disconnecting, you will have to re- engage them from the client or by manually pressing the MOTORS button on the controller. Re-engaging the motors automatically retracts the charging mechanism. While the motors are engaged, the charging mechanism cannot be deployed, except by the CHARGE command. - Page 58 ActivMedia Robotics Operating System The "overcharge" bit ID7 is set (1) when the batteries are well below full charge and the charger is at full charging current. During this bulk-charging period, the battery voltage rises to around 13.8-14V. The overcharge bit ID7 then drops to low (0) while the batteries charge from approximately 80% to 90% of full charge: from ~13.8 to 14.7V.
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Page 59: Chapter 7 Updating & Reconfiguring Aros
Your ActivMedia robot comes preinstalled with the latest version of AROS. And the various AROS configuration and update tools come with the robot on CD-ROM. Thereafter, stay tuned to the pioneer-users newsgroup or periodically visit our support website to obtain the latest AROS software and related documentation: http://robots.activmedia.com... -
Page 60: Aros Cf
Text prompts will help you get connected with your ActivMedia robot’s H8S-based controller and update its AROS servers. No fuss. No muss. AROS The AROS update and configuration program, AROScf, is part of a collection of utilities and files for comprehensive management of your ActivMedia robot’s onboard servers and FLASH-based operating parameters. -
Page 61: Configuring Aros Operating Parameters
Similarly, this Linux xterm command uploads a fresh copy of AROS to your robot’s H8S- based microcontroller and then exits, much like the simple dl_AROS1_0 program: % ./AROScf –d AROS1_0.hex –n -b Table 15. AROScf startup options ARGUMENT DESCRIPTION command Batch mode executes list of AROScf arguments Interactive mode commands with arguments... -
Page 62: Save Your Work
See the respective control command and parameter Tables nearby for a full description of AROScf operation. Table 16. AROScf control commands COMMAND DESCRIPTION <value> Alone, KEYWORD value. Add argument to change current value. c or constants Display edit these. v or variables Display all variable parameter values which you may edit and eventually save to your robot’s FLASH. - Page 63 Table 17. AROS FLASH configuration parameters with values for Pioneer 3–DX KEYWORD Type Default CONSTANTS Pioneer PTYPE P3DX PSTYPE factory ERNUM VERNO TOPRV 2200 TOPTV TOPRA 4000 TOPTA TICKSMM byte BATTCONV VARIABLES not_set NAME byte PWMMAX byte HOSTBAUD byte AUXBAUD...
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Page 64: Ticksmm And Revcount
ROTKP ROTKV ROTKI TRANSACC TRANSDECEL TRANSKP TRANSKV TRANSKI JOYVELMAX JOYRVELMAX The Proportional PID (Kp) values control the responsiveness of your robot. Lower values make for a slower system; higher values make the robot "zippier", but can lead to overshoot and oscillation. The Derivative PID (Kv) dampens oscillation and overshoot. -
Page 65: Stall Val And Stall Count
Next-generation client-side software will need to know if you have bumpers or not and how they are configured. And new bumper hardware inverts the Pioneer 2’s bumper signal bits which confuses the client-server software. Moreover, different AROS-enabled robots have different numbers of bumper segments, front and rear. - Page 66 Updating and Reconfiguring AROS Set the FrontBump and RearBump parameters to the number of bumper segments for the front and rear bumpers, repectively; or to 0 if you don't have a particular bumper. For pre-AROS 1.6 robots, you don't need to set these values to have them work with AROS 1.6.
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Page 67: Chapter 8 Maintenance & Repair
Your ActivMedia robot is built to last a lifetime and requires little maintenance. NFLATION Maintain even tire inflation for proper navigation of your Pioneer 3 or 2 robot. We ship with each pneumatic tire inflated to 23 psi. If you change the inflation, remember to adjust the ticksmm and revcount FLASH values. -
Page 68: Automated Docking/Charging System
(up to 5A) for operation of all onboard systems. The charging mechanism and onboard power conditioning circuitry can be retrofitted to all Pioneer 3 and some Pioneer 2 and PeopleBot robots. All require return to the factory. Alternative Battery Chargers The center post of the charger socket is the positive (+) side of the battery;... -
Page 69: Getting Inside
We describe here how to remove your robot’s nose to get at the onboard computer. And we describe how to access the contents of the body of your Pioneer 3 and 2 DX or AT robot. -
Page 70: Opening The Deck
Figure 22. Remove indicated screws from Pioneer 2- or 3-DX or -AT rear deck to open plate. Careful: The computer’s hard-drive, fan, and speaker have attached wire harnesses that you need to relieve before completely detaching the nose from the body. -
Page 71: H8S Ports & Connections
Appendix A H8S P & C ORTS ONNECTIONS This Appendix contains specifications for the external and internal ports and connectors on the H8S microcontroller, motor-power interface, and User Control boards. Note that layered connectors differently, depending on the socket type. IDC ones are odd and even layers;... -
Page 72: Serial Ports
Serial Ports Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxiliary serial ports for the H8S controller. All are RS-232 compatible. The HOST port is shared on both the User Control Panel as well as on the H8S controller board and is for AROS client- server and maintenance connections. -
Page 73: The Expansion I/O Bus
Lift direction DIGIN bit 4; Left paddle contact DIGIN bit 5; Right paddle contact DIGIN bit 6; Automated docking/charging ”power good” DIGIN bit 7; Automated docking/charging ”overcharge” *AN0 A/D port 0 (default) (0-5VDC = 0-255) Battery 12VDC < 1A The Expansion I/O Bus A 40-pin high-density IDC socket on the H8S microcontroller provides a general- purpose connector for future I/O expansion. -
Page 74: Bumper Ports
Table 24. Bumper ports (10-pos latching IDC) SIGNAL DESCRIPTION Bumper bit 0 Bumper bit 2 Bumper bit 4 Bumper bit 6 Common Bumper Ports Two 10-position latching IDC connectors provide general-purpose digital inputs, typically used for the robot’s bumpers. All inputs are buffered and pulled high (digital 1). Motors, Encoders, and IR Sensors A 26-position latching IDC connector on the H8S microcontroller provides interface through an intermediate board to the Motor-Power Board (Appendix B). -
Page 75: Joystick Port
Joystick Port An 8-position microfit socket provides signal lines for connection to an analog joystick. Indicated lines (*) are shared on other connectors. Table 27. Joystick connector (8-pos microfit) SIGNAL DESCRIPTION 5 VDC *AN4 A/D port 4; Y-axis *AN3 A/D port 3; X-axis SIGNAL DESCRIPTION... -
Page 76: Pioneer 3 And 2-Plus Motor -Power Board
IONEER OTOR The new Motor-Power Board for the Pioneer 2-AT8 Plus, –DX8 Plus, and all Pioneer 3 robots contains all the features of the two-board legacy system and lots more. Figure 26. New Pioneer Motor-Power Board Configuration for Current and Temperature Sensing The motor drivers are configured to limit 10A per motor, and to share the drivers with both motors on each side of the AT. -
Page 77: Controller Power And Interface
Table 28. Motor Temperature Sensors Connector (4-pos microfit) SIGNAL DESCRIPTION 5 VDC To AN2-based temp sensor circuit To AN1-based temp sensor circuit Signal/power common Otherwise, a jumper across R76 connects the AN1 port to the Fan Sensor system that is attached to the FET heat sink. -
Page 78: Ir Signal And Power
Table 32. User Power connector (12-pos latchlock; unswitched) CONNECTION IR Signal and Power Originally available on the Motor-Power Interface Board and now integrated on the new Motor-Power board, four connectors provide power and signal for fixed-range IR sensors. A separate connector provides signal path for an additional four IR sensors. Table 33. -
Page 79: Radio Modem Settings
Appendix C ADIO ODEM ETTINGS The radio modem-based wireless serial accessory comes pre-configured for use with your ActivMedia robot for client-server connections. robot (robot’s HOST serial port pins 7 and 8 jumpered; powered 5 VDC from RADIO switch). All you need to do is attach the other radio modem to a free serial port on your PC and provide power—no other setup is required. -
Page 80: Serial Ethernet Settings
Appendix D ERIAL THERNET ETTINGS The Ethernet-to-Serial device settings are made at the factory and stored in FLASH. Pressing and holding the test button for more than five seconds restores those settings. Server name: AMR-EW-1 Wireless SSID: WaveLAN Network Mode: Infrastructure Speed: 1 Mbps TCP/IP Address: 192.168.1.11 (.12, .13, …... -
Page 81: Webpage
2. Attach a cross-over serial cable between your PC and the serial port on th e device 3. Start minicom (Linux), HyperTerminal (Windows) or comparable serial console on your 4. Serial settings are 115,200 baud, 8 bits, one stop, no parity and hardware handshaking. -
Page 82: Appendix E
Appendix E PECIFICATIONS Physical Characteristics Length (cm) 44.5 Width (cm) Height (cm) 24.5 Clearance (cm) Weight (kg) Payload (kg) Power Batteries 12VDC lead-acid Charge (watt- hrs) Run time (hrs) 8–10 with PC (hrs) Recharge time hr/battery std charger High-Speed (3 batteries) Mobility Wheels pneumatic... - Page 83 Sensors Sonar Front Array (one each side, six forward @ 20° intervals) Rear Sonar Array (one each side, six rear @ 20° intervals) Top Deck Sonar (one each side, six forward @ 20° intervals) Encoders (2 ea) 39,400 counts/rev counts/mm counts/rotation 18,400 Controls and Ports...
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Page 84: Warranty & Liabilities
ActivMedia Robotics products in any way. They shall bear no responsibilities or liabilities for any operation or application of the robot, or for support of any of those activities. - Page 85 19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax http://www.mobilerobots.com...