Omron Pioneer LX User Manual page 6

Table of Contents
Maintaining Batteries.......................................................................................................................... 91
Replacing the Battery .......................................................................................................................... 91
Balance and Maintainence Charging ............................................................................................... 93
Removing and Installing Covers .................................................................................... 93
Cover Removal .................................................................................................................................... 94
Cover Installation ................................................................................................................................ 96
Replacing Non-Periodic Parts ........................................................................................ 98
Charging Station Roller and Bearing ................................................................................................ 99
Charging Station AC Power Fuse ..................................................................................................... 99
Charging Station Internal Fuse ........................................................................................................ 100
Rear Sonar Units ................................................................................................................................ 101
Front Sonar Units (Lynx-based robots only) ................................................................................. 101
Front lower laser (LD-series robots only) ...................................................................................... 102
Sonar Controller ................................................................................................................................ 102
Light Discs.......................................................................................................................................... 103
Operator Control Panel .................................................................................................................... 103
Wheels and Tires ............................................................................................................................... 103
Drive Assemblies .............................................................................................................................. 103
Front or Rear Casters ........................................................................................................................ 105
Laser Rangefinder ............................................................................................................................. 106
Core ..................................................................................................................................................... 108
Chapter 9: Technical Specifications ............................. 110
Dimension Drawings ..................................................................................................... 110
2.2 Platform Specifications .......................................................................................... 111
2.3 Charging Station Specifications ............................................................................ 113
Chapter 10: Parts List ................................................. 115
Chapter 11: Communication Packet Protocol .............. 117
2.1 Packet Checksum .................................................................................................... 117
2.2 Server Information Packets .................................................................................... 118
2.3 Standard SIP contents ............................................................................................. 118
2.4 Client Commands ................................................................................................... 123
Command Packet Format ................................................................................................................ 123
Connection Initialization and Maintenance Commands: ............................................................ 124
Robot Motor, Velocity and Position Control: ................................................................................ 125
Configure Acceleration and Deceleration Parameters ................................................................. 125
Configure Maximum Speeds ........................................................................................................... 126
Reset Position..................................................................................................................................... 126
Joystick ............................................................................................................................................... 126
Additional SIP Requests ................................................................................................................... 126
Other ................................................................................................................................................... 127
2.5 Command Packet Errors ........................................................................................ 127
2.6 Establishing the connection ................................................................................... 127
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