1. Manuals
  2. Brands
  3. Adept MobileRobots Manuals
  4. Robotics
  5. Pioneer LX
  6. User manual

Adept MobileRobots Pioneer LX User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
User's Guide
Rev. A 
November, 2013

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Pioneer LX and is the answer not in the manual?

Questions and answers

Related Manuals for Adept MobileRobots Pioneer LX

Summary of Contents for Adept MobileRobots Pioneer LX

  • Page 1 User's Guide Rev. A  November, 2013...
  • Page 2 Copyright Notice The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced in whole or in part without prior written approval of Adept Technology, Inc. The information herein is subject to change without notice and should not be construed as a commitment by Adept Technology, Inc. The documentation is periodically reviewed and revised.

  • Page 3: Table Of Contents

    Attaching Optional Accessories Installing the Charging Station 2.6 Embedded Computer Setup Logging In Remote Access Networking Chapter 3: Software Demonstrations and Quick Start ARIA Demo ARNL Demo Server and MobileEyes Adept Pioneer LX Platform User's Guide, Rev. A Page 3 of 125...
  • Page 4 5.4 Futher Programming Information Chapter 6: Payloads 6.1 Considerations Weight Power Consumption Payload Bay Access Dimensions Center of Gravity 6.2 Mounting Deck 6.3 Connections Between Platform and Payload Adept Pioneer LX Platform User's Guide, Rev. A Page 4 of 125...
  • Page 5 Operator Control Panel Drive Assemblies Front or Rear Casters Laser Rangefinder Core 8.6 Spare Parts List Chapter 9: Technical Specifications 9.1 Dimension Drawings 9.2 Platform Specifications 9.3 Charging Station Specifications Adept Pioneer LX Platform User's Guide, Rev. A Page 5 of 125...
  • Page 6 Additional SIP Requests Other 10.5 Command Packet Errors 10.6 Establishing the connection Opening the session—OPEN Keeping the Beat—PULSE Closing the connection—CLOSE 10.7 CONFIG Packet and CONFIG command 10.8 Joystick Packet Adept Pioneer LX Platform User's Guide, Rev. A Page 6 of 125...

  • Page 7: Chapter 1: Introduction

    Refer to Connectivity on page 61, for information on the available connectors.. For some projects, you may want to customize the Pioneer LX with a payload, attached to the top of the platform, such as sensors, manipulators, extra structure. Refer to Payloads on page 53 for general information on designing a payload.

  • Page 8: Body, Drive And Control

    Body, Drive and Control The Adept Pioneer LX is medium-sized, lightweight, and highly maneuverable. It has a strong aluminum chassis and solid construction that makes it very durable. It is insulated against water splashes and dust, with an IP rating of IP-40.
  • Page 9 Used for manually controlling the platform, mostly when making a scan to be used for generating a map. Pioneer SDK including ARIA open source C++ API, and ARNL Laser Navigation Libraries and example servers. Documentation Pioneer LX User's Guide, Rev. A Page 9 of 125...

  • Page 10: Optional Accessories, Parts, Components And Attachments (Partial List)

    100 megabytes of available hard-disk storage Power outlet for docking station (115VAC or 220VAC) Software Overview The Pioneer LX comes with the following software preinstalled and ready to use. Software packages are also provided on the included CDROM, and may be downloaded from http://robots.mobilerobots.com.
  • Page 11 ARNL and robot configuration parameters, and send custom commands. MobileEyes is available for download at http://robots.mobilerobots.com/wiki/MobileEyes. Pioneer LX User's Guide, Rev. A Page 11 of 125...

  • Page 12: Operating Environment

    All other accessory devices are supported in ARIA. 1.2 Operating Environment The Pioneer LX is designed to operate in an environment that is wheelchair accessible. Care must be taken to avoid: glass doors and walls pits without railings or low bumpers floors with access panels removed loose cables, hoses, etc.

  • Page 13: Dangers, Warnings, Cautions, And Notes

    CAUTION: This indicates a situation which, if not avoided, could result in minor injury or damage to the equipment. NOTE: Notes provide supplementary information, emphasize a point or procedure, or give a tip for easier operation. Pioneer LX User's Guide, Rev. A Page 13 of 125...

  • Page 14: Safety Precautions

    Chapter 1: Introduction 1.4 Safety Precautions Read all installation and operation instructions before using the equipment. Do not ride on the Pioneer LX. Do not exceed the maximum weight limit. Limit operation to a 1:12 slope. Do not drop the platform, run it off a ledge, or otherwise operate it in an irresponsible manner.

  • Page 15: Help, Documentation And Support

    Remove the rear plastic body skin panel to access the battery door. Note: Do not contact Adept industrial products service, support, or applications support for help with the Pioneer LX, always contact MobileRobots support at mobilerobots.com first. Factory Repairs If after reading this manual, you are having hardware problems with your Adept Mobil- eRobots system and are sure that it needs repir, contact us at: support@mobilerobots.com...

  • Page 17: Chapter 2: Setup

    NOTE: If you purchased spare batteries, this section applies to them, also. The battery is shipped in a separate container, not inside the Pioneer LX. Its crate with pallet measures 457 x 279 x 406 mm (18 x 11 x 16 in.), and weighs 27 kg (60 lb).
  • Page 18 Retain the crates and packaging materials. These items may be necessary to settle claims or, at a later date, to relocate the equipment. The Pioneer LX comes packed in a wooden crate, lined with foam. It is mounted on a pallet, with a wooden cover. See the following two figures.

  • Page 19: Lifting The Platform

    Chapter 2: Setup Figure 2-2. Pioneer LX in Shipping Crate, on Pallet, with Crate Cover Lifting the Platform CAUTION: You can damage the platform if you lift it incorrectly. Use two people to lift the platform out of its crate.
  • Page 20 Lift near the center of the platform, where the cover has a raised section. Do not lift anywhere else. Lift the metal frame behind the plastic body panels, not the plastic body panel. Refer to the following figure: Pioneer LX User's Guide, Rev. A Page 20 of 125...
  • Page 21 The following split photo shows a platform being lifted out of its crate: 1. Lift the platform out of the crate. 2. Re-install the crate back panel, using the two wing nuts and washers. Pioneer LX User's Guide, Rev. A Page 21 of 125...

  • Page 22: Repacking For Relocation

    The platform must always be shipped in an upright orientation. 2.5 Installing a Pioneer LX System Installing the Battery Your Adept Pioneer LX comes fully-assembled, but with battery packed separatey. The battery is fully-charged before shipping. NOTE: Air shipping regulations require that the platform be shipped without the battery installed.
  • Page 23 The connectors for power and data go toward the rear of the platform. 4. Attach the battery power and data cables to the connectors at the rear of the battery. 5. Close the battery compartment door to secure the battery in place. Pioneer LX User's Guide, Rev. A Page 23 of 125...

  • Page 24: Attaching Optional Accessories

    Attach the charging station mounting bracket to a wall, with the bottom edge of the bracket 98 ± 20 mm (3.8 ± 0.8 in.) above the floor, using user-supplied anchors and screws. Refer to the following figure: Pioneer LX User's Guide, Rev. A Page 24 of 125...
  • Page 25 2. Screw the two shoulder bolts, each with a washer, into the rear of the charging station. The shoulder bolts are M5 x 4, stainless steel. Their locations are shown in the fol- lowing figure. Tighten to 9 N-m (80 in-lb). Pioneer LX User's Guide, Rev. A Page 25 of 125...
  • Page 26 3. Attach the floor plate to the base of the charging station with three M4 x 12 flat-head stainless steel screws. The floor plate comes with three screws, so you will have two spares. Pioneer LX User's Guide, Rev. A Page 26 of 125...
  • Page 27 Figure 2-10. Underside of Charging Station Foot, Showing Screw Locations NOTE: These are the three locations for the M4 x 12 flat-head screws. Two are already in place, and need to be removed before attaching the plate. Pioneer LX User's Guide, Rev. A Page 27 of 125...
  • Page 28 Chapter 2: Setup Figure 2-11. Charging Station, Mounted on Floor Plate Free Standing 406 [16.0] 495 [19.5] Units are mm [in.] Figure 2-12. Charging Station Floor Plate Dimensions Pioneer LX User's Guide, Rev. A Page 28 of 125...

  • Page 29: Embedded Computer Setup

    If the onboard computer is running Linux, you can log in as guest (normal unprivileged user) or root (privileged administrative account). The default password for the guest and root users on Linux, and the Administrator account on Windows, is mobilerobots. Pioneer LX User's Guide, Rev. A Page 29 of 125...

  • Page 30: Remote Access

    You may need to change the settings of the wireless network interface and external ethernet connection to match your existing network. Consult with your institution IT department or net- work maintainer for details on specific settings required for your network. Pioneer LX User's Guide, Rev. A Page 30 of 125...
  • Page 31 To change network settings in Windows, open Contol Panel from the Start menu. Open the Network or Network and Sharing Center control panel, and choose Change adapter settings. See http://robots.mobilerobots.com/wiki/Windows_Network_Configuration for more infor- mation on configuring Windows network settings. Pioneer LX User's Guide, Rev. A Page 31 of 125...

  • Page 33: Chapter 3: Software Demonstrations And Quick Start

    1. Open a command prompt (Start->All Programs->Accessories->Command Prompt) cd “\Pr- 2. Change to the ARIA programs directory with the following command: ogram Files\MobileRobots\ARIA\bin” .\demo.exe 3. Run demo with the following command: Pioneer LX User's Guide, Rev. A Page 33 of 125...

  • Page 34: Arnl Demo Server And Mobileeyes

    3. Double click the arnlServer icon on the desktop to run arnlServer, or run it from the Start menu (All Programs -> MobileRobots -> ARNL-> arnlServer). 4. Or, to run it from a command prompt: 1. Open a command prompt (Start->All Programs->Accessories->Command Prompt) Pioneer LX User's Guide, Rev. A Page 34 of 125...
  • Page 35 Note, if the remote connection to the robot is closed, then arnlServer will automatically quit as well.  For information about running arnlServer or other programs in the background, rather than attached to a remote connection terminal in Linux, see http:/- /robots.mobilerobots.com/wiki/Running_A_Linux_Program_In_The_Background. Pioneer LX User's Guide, Rev. A Page 35 of 125...

  • Page 37: Chapter 4: Components And Operation

    Front Caster x2 Drive Wheel x2 Rear Caster x2 4.1 Operating Environment The Pioneer LX is designed to operate in an environment that is wheelchair accessible. Care must be taken to avoid: glass doors and walls pits without railings or low bumpers floors with access panels removed loose cables, hoses, etc.

  • Page 38: Typical Operation

    To reboot the system (including onboard computer), power the system off using the OFF button, then start it using the ON button. Note: The Pioneer LX is always powered on when attached to the charging station, and will not turn off if the OFF button is pressed. To power off the Pioneer LX, hold the BRAKE RELEASE button and carefully move it off the charging station.

  • Page 39: Battery Indicators And Controls

    Charging Station The charging station, or "dock", is both a manual and an automated means for recharging your Pioneer LX. Pioneer LX User's Guide, Rev. A Page 39 of 125...
  • Page 40 Figure 4-2. Charging Station Indicators, Controls, and Connections The charging station has a power switch and two LEDs: blue indicates that power is available. yellow indicates that a charge is in progress. Pioneer LX User's Guide, Rev. A Page 40 of 125...

  • Page 41: Manually Charging The Battery

    NOTE: The charging station cannot charge a platform and a separate battery at the same time. If a platform is at the station, the power to the manual charge connector is cut off. Pioneer LX User's Guide, Rev. A Page 41 of 125...

  • Page 42: Operator Control Panel

    When pressed, the red, latching push-button removes power from the platform’s motors and from the E-Stop-controlled power port after a 1 second delay. To reset the E-Stop, twist the but- ton slightly, so it pops up. Pioneer LX User's Guide, Rev. A Page 42 of 125...

  • Page 43: Brake-Release Button

    "Error". Flashing red. OUT3 (red)  periodic. "Warning". Flashing yellow. OUT2 (orange) periodic. "Motion+Caution". Blue arcs rotate, rest of OUT1(green) disc flashing orange. periodic. OUT2 (orange)  periodic alter- nating with OUT1. OUT4 (buzzer) Pioneer LX User's Guide, Rev. A Page 43 of 125...

  • Page 44: Joystick

    OUT1 (green)  on. Joystick The joystick plugs into the left side of the Pioneer LX, under the small access panel at the upper-right corner of the platform. It may be used with running software (such as ARIA demo or ARNL arnlServer) to manually drive the robot.

  • Page 45: Mtx-Lynx Core Diagnostic Indicators

    NOTE: The Joystick handle should be facing you, not away from you. The joystick’s GOAL button (secondary button) is for marking positions while making a map scan for ARNL. WARNING: The Pioneer LX may not sense obstacles while manually operated with the joystick, unless running software does so.. MTX-Lynx Core Diagnostic Indicators The left end of the Core has 12 indicator lights.

  • Page 46: Sensors

    ARNL will use this laser as its primary sensor. Software can also use ARIA to obtain sensed obstacle data from the laser. Sonar The Pioneer LX contains four short-range sonar for extra sensing near the floor in front of the robot, and behind the robot when backing up. Bumper One bumper panel, with two pairs of sensors, is mounted at the front of the platform, should the obstacle-avoidance systems fail to detect an obstacle.

  • Page 47: Internal Sensors

    The robot's controller uses these internal sensors for feedback as it maintains requested veloc- ities, and when it estimates robot position and velocity, which are provided to the software. Pioneer LX User's Guide, Rev. A Page 47 of 125...

  • Page 49: Chapter 5: Programming

    Chapter 5:  Programming Chapter 5: Programming All MobileRobots platforms use a two-tier architecture.  Pioneer LX’s microcontroller with embedded MARCOS firmware manages all the details of the robot’s mobility and internal sys- tems including implementing velocity control of the robot platform, coordinating the motors, receiving encoder data, integrating encoder and gyro data to determine an estimate for robot position, managing power to all components, and more. ...

  • Page 50: Robots In Motion

    Accordingly, the robot brakes to zero translational and rotational velocities with very high deceleration and remains stopped until it receives a subsequent translation or rotation velocity command from the client. Pioneer LX User's Guide, Rev. A Page 50 of 125...

  • Page 51: Position Integration

    These serial connections use USB interfaces of the onboard computer. ARIA has been preconfigured on the Pioneer LX embedded computer to connect to the robot controller via the correct interface and using the correct baud rate as shown in the table below.

  • Page 52: Futher Programming Information

    Aria installation directory, and will contain their own documentation and examples. For discussion and questions about programming with ARIA and ARNL, join the aria-users discussion email forum. See the following link for more information http://robots.mobilerobots.com/wiki/aria-users Pioneer LX User's Guide, Rev. A Page 52 of 125...

  • Page 53: Chapter 6: Payloads

    Everything that you attach to the Pioneer LX is referred to as the payload. The Pioneer LX provides the mobility and navigation you will need, as well as power and I/O connections between the platform and your payload, so the two can work effectively together.

  • Page 54: Payload Bay Access

    Take care to keep all of the payload higher than the top of the Pioneer LX. If any of the plat- form's sensors get blocked, it won't be able to function normally. This is critical in the case of the laser rangefinder.

  • Page 55: Center Of Gravity

    The following figure shows the center of gravity of the platform, without payload. Rear of Lynx AIV 345.3 16.5 Wheel Wheel Axis Axis 188.7 Wheel Axis 16.5 Units are mm 249.8 499.6 Front of Lynx AIV Pioneer LX User's Guide, Rev. A Page 55 of 125...
  • Page 56 You should try to keep your CG as close to the center of these figures as pos- sible. In the following three figures, light blue represents the payload, while dark blue represents the Pioneer LX. 10 kg Figure 6-3. Center of Gravity Graphs, 10 kg Pioneer LX User's Guide, Rev. A Page 56 of 125...
  • Page 57 Chapter 6: Payloads 30 kg Figure 6-4. Center of Gravity Graphs, 30 kg 60 kg Pioneer LX User's Guide, Rev. A Page 57 of 125...

  • Page 58: Mounting Deck

    M3 screws. The mounting deck is attached to the frame of the Pioneer LX via M5 screws on each side and may be removed to access the interior payload bay or to remove equipment for maintainence or changes for different projects.

  • Page 59: Connections Between Platform And Payload

    Chapter 6: Payloads 6.3 Connections Between Platform and Payload The Pioneer LX provides a variety of I/O and power connections, which you can use to make your robot more effective. The Operator screen, E-Stop, Brake-release, ON, and OFF may be relocated if desired. This allows you to add the robot controls somewhere on your payload with just one cable.

  • Page 61: Chapter 7: Connectivity

    The external ethernet port is internally connected to the Main- tenance Ethernet port on the MTX Core in the payload bay. Wireless Side The Pioneer LX includes two antennas for wireless ethernet net- Ethernet access working (wifi). The antennas are internally connected to the wifi panel antenna connectios on the side of the MTX Core inside the payload...

  • Page 62: Mtx-Lynx Core Front, Upper

    VBAT or AUX power supplies. Analog I/O HDB15M General use CAN Bus B Connector type DB9F CAN Bus Pin No. Designation Notes 1, 4, 8 No Connection Pioneer LX User's Guide, Rev. A Page 62 of 125...
  • Page 63 = ~3.9 kΩ INPUT_4.3 Input_4.3 0 – 30 V Range, R = ~3.9 kΩ INPUT_4.4 Input_4.4 0 – 30 V Range, R = ~3.9 kΩ BANK4 Common for INPUT_4.X OUTPUT_1 Output_1 Pioneer LX User's Guide, Rev. A Page 63 of 125...
  • Page 64 VBAT @ 0.5 A Max (shared with light pole) VBAT_IO_OUT3 VBAT @ 0.5 A Max VBAT_IO_OUT2 VBAT @ 0.5 A Max VBAT_IO_OUT1 VBAT @ 0.5 A Max 41, 42, 43, 44 Pioneer LX User's Guide, Rev. A Page 64 of 125...
  • Page 65 3.9 kΩ minimum Current at V = +24 VDC I ≤ 6 mA NOTE: The input current specifications are provided for reference. Voltage sources are typically used to drive the inputs. Pioneer LX User's Guide, Rev. A Page 65 of 125...
  • Page 66 ANALOG_IN2 0 – 10 V Range, R = ~35 kΩ ANALOG_IN3 0 – 10 V Range, R = ~35 kΩ ANALOG_IN4 0 – 10 V Range, R = ~35 kΩ Pioneer LX User's Guide, Rev. A Page 66 of 125...
  • Page 67 ANALOG_OUT2 0 – 20 V Range, +/-10 mA, Ro = ~200 Ω ANALOG_OUT3 0 – 20 V Range, +/-10 mA, Ro = ~200 Ω ANALOG_OUT4 0 – 20 V Range, +/-10 mA, Ro = ~200 Ω 13, 14, 15 GND Pioneer LX User's Guide, Rev. A Page 67 of 125...
  • Page 68 The user serial ports use/dev/ttyUSB9 and /dev/ttyUSB10 device interfaces on Linux. Pin No. Designation Notes 1, 4, 6, 9 No Connection RS232_USR#_RXD #=1 or 2 RS232_USR#_TXD #=1 or 2 RS232_USR#_RTS #=1 or 2 RS232_USR#_CTS #=1 or 2 Pioneer LX User's Guide, Rev. A Page 68 of 125...

  • Page 69: Mtx-Lynx Core Rear, Upper

    Auto- MDIX. Joystick DB9F Connected to the externally-mounted Joystick port on side of platform. HMI Panel HDB15F Operator screen, E-Stop, Brake_Rel, ON, Sonar #2 DB9M Optional sonar (x8) for payload Pioneer LX User's Guide, Rev. A Page 69 of 125...
  • Page 70 Chapter 7: Connectivity Power Connections The Pioneer LX provides conditioned 5, 12, and 20 VDC, and raw (battery) 22 - 30 VDC power to the platform’s and accessory electronics, including the onboard Core and laser rangefinder. ® All power connectors are Mini-Fit...
  • Page 71 E-STOP port on the User Interface connector for the platform to function. The jumper is provided as part number 12730-000L. An E-Stop button would be user- supplied. See the following figure. Pioneer LX User's Guide, Rev. A Page 71 of 125...
  • Page 72 Chapter 7: Connectivity Figure 7-5. E-Stop Jumper on Lynx Core Figure 7-6. E-Stop Chain Diagram Pioneer LX User's Guide, Rev. A Page 72 of 125...
  • Page 73 Hardware Software Notes 1, 2, 3 AUX_5V_OUT Aux_5V 5 V @ 1 A max AUX_12V_OUT Aux_12V 12 V @ 1 A max AUX_20V_OUT Aux_20V 20 V @ 1 A max Pioneer LX User's Guide, Rev. A Page 73 of 125...
  • Page 74 Analog X input JOY_YAXIS Analog Y input JOY_SPEED Analog SPEED input JOY_GOAL Goal Button Input JOY_EN_1H Enable channel 1 JOY_EN_2L Enable channel 2 No Connection 5 V @ 100 mA Pioneer LX User's Guide, Rev. A Page 74 of 125...

  • Page 75: Core, Side

    Audio Out Figure 7-7. Right Side of the Core 7.3 Internal Pioneer LX Core Connections The following connections are for internal use by the robot system, and not normally avail- able for the user. They are listed here so that you can reconnect them in the event that they need to be disconnected for parts replacement.
  • Page 76 Mini-Fit Sr., 3-pin Battery VDC; connects to battery Bumper Switches Mini-Fit 2 x 4 Connect to standard bumper contacts Speakers Mini-Fit 2 x 2 Drives built-in speakers Battery Comm. Mini-Fit 2 x 3 Battery communication/control Pioneer LX User's Guide, Rev. A Page 76 of 125...

  • Page 77: Lynx Internal Data Pinouts

    6, 7 CANH_A CAN Communication differential pair 8, 9 SW_12V_WHEEL WheelLight_Power 12 V @ 1 A Max (switched in SW) NOTE: Sonar 1 is covered at the end of Core, Upper Rear. Pioneer LX User's Guide, Rev. A Page 77 of 125...
  • Page 78 O3_OUT STANDBY No Connection 10, 18 SW_20V_LIDAR Main_Laser_Power Connections to Adept-Supplied LIDAR 11 thru 17 GND RS422_LIDAR_TX+ RS422_LIDAR_TX- IN_A1 IN_A2 IN_B1 IN_B2 IN_C1 IN_C2 Pin 10 +  18: Current < 600 mA Pioneer LX User's Guide, Rev. A Page 78 of 125...

  • Page 79: Pioneer Lx Internal Power Pinouts

    BUMPER_L2H Left, Channel 2, High BUMPER_L1H Left, Channel 1, High Speakers ® Connector type Mini-Fit 2 x 2 Speakers Pin No. Designation Notes RIGHT+ Right Speaker RIGHT- LEFT+ Left Speaker LEFT- Pioneer LX User's Guide, Rev. A Page 79 of 125...
  • Page 80 The sonar communications interfaces to the embedded computer on Linux are /dev/ttyUSB2 and /dev/ttyUSB3. Designation Pin No. Hardware Software Identifier 1, 4, 8 No Connection RS422_SNR_RX+ RS422_SNR_TX+ RS422_SNR_RX- RS422_SNR_TX- SW_12V_SNR Sonar_1_Power, Sonar_2_Power Aux Sensors Connector type HDB15M Reserved for future accessories Pioneer LX User's Guide, Rev. A Page 80 of 125...
  • Page 81 5 V @ 1 A, shared with USB port 2 AUXS_A_RXD AUXS_B_RXD AUXS_C_RXD 5V_SW3 5 V @ 1 A, shared with USB port 3 SW_20V_C 20 V @ 150 mA Pioneer LX User's Guide, Rev. A Page 81 of 125...

  • Page 83: Chapter 8: Maintenance

    Rear Sonar Safety Battery Scanning Light Disc Access Laser Door Bumper Front Sonar Front Caster x2 Drive Wheel x2 Rear Caster x2 Figure 8-1. Location of Parts on the Platform Pioneer LX User's Guide, Rev. A Page 83 of 125...

  • Page 84: Safety Aspects While Performing Maintenance

    8.2 Periodic Maintenance Schedule The drive motors and gearbox are sealed and permanently lubricated, so they do not require periodic maintenance. Cleaning The following table gives a summary of cleaning procedures for the Pioneer LX. Table 8-1. Cleaning Item Period...

  • Page 85: Axles

    NOTE: In general, it is better to install the payload first, and then the covers. The covers are: Rear Inner (Battery) Access Panel Left Side Both side covers include a light disc and cover. Right Side Pioneer LX User's Guide, Rev. A Page 85 of 125...

  • Page 86: Cover Removal

    2. Pull the bottom of the cover, near both sides, away from the chassis. 3. Work your way up the edges of the cover, pulling it away from the chassis as you go. Pioneer LX User's Guide, Rev. A Page 86 of 125...
  • Page 87 The cover will pivot on the metal brace at its bottom edge. 2. Pull the four sonar wires, with their connectors, out of the chassis holes. Refer to the following two figures. Pioneer LX User's Guide, Rev. A Page 87 of 125...
  • Page 88 Ensure that both sides of all connectors are labeled, and match. If not, label them. Figure 8-3. Sonar Connectors, with Connectors Exposed 4. Tilt the cover down to about 45°, and slide the brace on the bottom of the cover out of Pioneer LX User's Guide, Rev. A Page 88 of 125...

  • Page 89: Cover Installation

    5. Tuck the connectors into the four holes in the chassis, until just an inch of sonar lead is sticking out. 6. Tilt the top of the cover up to meet the chassis. Pioneer LX User's Guide, Rev. A Page 89 of 125...
  • Page 90 Access Panel 1. Slide the panel to the right, so its tab goes under the left side cover. The panel is attached with a lanyard, to prevent getting lost. Pioneer LX User's Guide, Rev. A Page 90 of 125...

  • Page 91: Replacing Periodic Parts

    Before removing or installing a battery, remove the rear inner platform cover. Refer to Remov- ing and Installing Covers on page 85. Removal WARNING: The battery is heavy (20 kg/44 lbs). Observe safe lifting prac- tices when removing or installing the battery. Pioneer LX User's Guide, Rev. A Page 91 of 125...
  • Page 92 1. Remove the inner rear platform cover. 2. Unlatch and open the battery compartment door, at the back of the platform. The battery compartment door is capable of being locked. You may need to unlock it. Pioneer LX User's Guide, Rev. A Page 92 of 125...
  • Page 93 The battery weighs 20 kg (44 lbs). There are recesses at the front and the back of the battery, to aid in lifting it. Figure 8-7. Battery Recesses, for Gripping Pioneer LX User's Guide, Rev. A Page 93 of 125...

  • Page 94: Replacing Non-Periodic Parts

    Refer to the following figure for the location of the roller. WARNING: Unplug power from the charging station before starting. Remove the power cord at the charger. The roller is held to the charging station with a shoulder bolt. Pioneer LX User's Guide, Rev. A Page 94 of 125...

  • Page 95: Charging Station Ac Power Fuse

    The fuse assembly can be removed by squeezing the two tabs toward each other, and pulling it away from the charging station. The fuses are p/n 04563-000. See the following figure. Pioneer LX User's Guide, Rev. A Page 95 of 125...

  • Page 96: Charging Station Internal Fuse

    1. Remove the ten screws from the back cover of the charging station. Two of these are on the sides, near the bottom. Figure 8-11. Charging Station Rear Cover Screws (8 of 10) Retain the screws for reassembly. Pioneer LX User's Guide, Rev. A Page 96 of 125...

  • Page 97: Rear Sonar Units

    The controller will be at the very front of the payload bay, screwed into the payload bay Pioneer LX User's Guide, Rev. A Page 97 of 125...

  • Page 98: Light Discs

    53 for more information on relocating the Operator control panel Drive Assemblies The platform drive assemblies have been designed to be field-replaceable. This will replace the drive motor, gearbox, encoder, and wheel/tire assembly. Pioneer LX User's Guide, Rev. A Page 98 of 125...
  • Page 99 Remove the three nuts and four screws (and their washers) holding the drive assembly to the platform. Retain these nuts, screws, and washers for attaching the new drive assembly. Pioneer LX User's Guide, Rev. A Page 99 of 125...
  • Page 100 An M5 x 10 screw works well for this. 2. Connect the motor cable to the new drive assembly. 3. Install the new drive assembly over the three studs at the top of its bracket. Pioneer LX User's Guide, Rev. A Page 100 of 125...

  • Page 101: Front Or Rear Casters

    1. Move the payload out of the way. If the payload can be completely removed, do so. This step is to enable you to tip the Pioneer LX on its side, so you have access to the casters underneath. 2. Remove the inner rear cover.

  • Page 102: Laser Rangefinder

    2. Unscrew the four screws holding the black plate on top of the laser. Retain the four screws for reassembly. You will use this top cap on the new laser. Do not unplug it from the platform chassis. Pioneer LX User's Guide, Rev. A Page 102 of 125...
  • Page 103 Chapter 8: Maintenance Figure 8-16. Top of Laser Rangefinder Pioneer LX User's Guide, Rev. A Page 103 of 125...

  • Page 104: Core

    3. Disconnect all of the cables that are attached to the top portion of the Core. Refer to MTX Core User Connections on page 61. 4. Remove the core mounting bracket from around the Core. Pioneer LX User's Guide, Rev. A Page 104 of 125...
  • Page 105 The Left Motor and Right Motor connectors use the same type of plug, and can be inad- vertently reversed. Ensure that you can identify the left from the right. See Internal Pioneer LX Core Connections on page 75. 8. Remove the old Core.

  • Page 106: Spare Parts List

    12855-000 Push Latch, 3 kg retaining force, Black (Access Panel latch) AMRPLX-12804-700 Cover: Rear AMRPLX-12804-800 Cover: Battery door 12168-000 Latch, locking, flush, ABS Battery latch (contains the key) Operator Panel Pioneer LX User's Guide, Rev. A Page 106 of 125...
  • Page 107 12150-000 Casters, Shock Absorbing, Absorbing Pad 87, Shore A Miscellaneous 12330-000 Speaker, 3.5 in., 80 W 12312-000 Micro Switch, Positive Opening Contacts (Front Bumper x 4) 12730-000L Jumper, User ESTOP Pioneer LX User's Guide, Rev. A Page 107 of 125...

  • Page 109: Chapter 9: Technical Specifications

    Chapter 9: Technical Specifications Chapter 9: Technical Specifications 9.1 Dimension Drawings 697 [27.4] [14.6] [7.5] 39 [1.5] Units are mm [in.] 500 [19.7] Figure 9-1. Pioneer LX Top, Side, and Front Dimensions Pioneer LX User's Guide, Rev. A Page 109 of 125...

  • Page 110: Platform Specifications

    IP Rating IP-40 Cleanroom rating Fed Class 100, ISO Class 5 Drive Train Drive wheels 2 grey non-marking foam-filled rubber Wheel diameter 200 x 50 mm (7.9 x 2.0 in.) nominal) Pioneer LX User's Guide, Rev. A Page 110 of 125...
  • Page 111 1 at front of platform, 191 mm (7.5 in.) height 250°, 15 M range, Class 1, eye-safe PLd Safety per ISO-13849 Sonar 2 sensors (transmit, receive pair) at rear of platform. Pioneer LX User's Guide, Rev. A Page 111 of 125...

  • Page 112: Charging Station Specifications

    Weight 8.2 kg (18 lbs) Mounting Wall bracket, directly to floor, or on floor with floor plate Indicators Power on - blue Charging - yellow Connector For out-of-platform battery charging Pioneer LX User's Guide, Rev. A Page 112 of 125...

  • Page 113: Chapter 10: Communication Packet Protocol

    // packetBuf is a character buffer char[] containing one data packet // read from the robot int i; unsigned char n; int c = 0; i = 3; n = packetBuf[2] - 2; // data length while (n > 1) Pioneer LX User's Guide, Rev. A Page 113 of 125...

  • Page 114: Server Information Packets

    Some items in the SIP are provided by other MobileRobots platforms but are not relevant or implemented in Pioneer LX (these are shown in grey italic in the table below). The standard SIP is automatically received and the data stored by ARIA’s ArRobot class.
  • Page 115 (N/A on Pioneer LX) Pioneer sonar array #3 ena- bled (N/A on Pioneer LX) Pioneer sonar array #4 ena- bled (N/A on Pioneer LX) E-Stop button pressed Pioneer E-stall engaged (N/A Pioneer LX User's Guide, Rev. A Page 115 of 125...
  • Page 116 (unused on Pioneer LX) (unused on Pioneer LX) (unused on Pioneer LX) 11-15 Reserved COMP byte unused Pioneer byte Unused on Pioneer LX (always 0). Sonar Read- ings Count GRIP_ byte Pioneer gripper state (unused in STATE PatrolBot, Pioneer LX, Seekur, Seekur JRr, always 0.)

  • Page 117: Client Commands

    ARIA’s ArRobot class also contains functions to easily send any com- mand with arguments. Not all commands listed below are implemented by Pioneer LX. These are indicated in grey italic. A command’s argument  may be a two-byte (16-bit) integer, ordered as least-significant byte first (little endian).

  • Page 118: Connection Initialization And Maintenance Commands

    May be combined with VEL for simul- taneous motion. Max- imum speed is limited with SETRV and stored firmware parameter.  (This command replaces ROTATE; commands are equivalent.) Pioneer LX User's Guide, Rev. A Page 118 of 125...

  • Page 119: Configure Acceleration And Deceleration Parameters

    ArAction objects DHEAD commands; degrees/sec. Reset Position SETO 7 non- Reset position estimate given in stand- ArRobot::moveTo() ard SIP to 0,0,0.. Joystick Use the ArJoyHandler class in ARIA. Pioneer LX User's Guide, Rev. A Page 119 of 125...

  • Page 120: Additional Sip Requests

    The robot controller echoes each SYNC packet verbatim back to the client.   The client should listen for the returned packets and only issue the next synchronization packet after it has received the appropriate echo response. Pioneer LX User's Guide, Rev. A Page 120 of 125...

  • Page 121: Opening The Session-Open

    NULL-terminated character strings: robot name, robot class or type, and robot subclass or subtype.  For the Pioneer LX, the class is always “MTX” and the subclass is "marc_devel" in early versions of the robot, or "pioneer-lx" in later versions. Clients use these identifying strings to configure their own operating parameters. ...

  • Page 122: Closing The Connection-Close

    Gripper 0 if no Pioneer Gripper; else 1. Always 0 on Pioneer LX, Front Sonar Unused on Pioneer LX. See robot parameter file instead. Rear Sonar byte Unused on Pioneer LX. See robot parameter file instead. Pioneer LX User's Guide, Rev. A...
  • Page 123 1 if the client can change baud rates; 2 if auto-baud implemented. HasGyro byte Always 2 on Pioneer LX. (All Pioneer LX robots have a gyro, which is automatically used to determine position estimate.) Driftfactor Unused on Pioneer LX Aux2baud...

  • Page 124: Joystick Packet

    Chapter 10:  Communication Packet Protocol LatVelMax Currently set lateral velocity maximum (mm/sec) (Pioneer LX Only) LatAccel Currently set lateral acceleration (mm/sec ) (Pioneer LX Only) LatDec Currently set lateral deceleration (mm/sec ) (Pioneer LX Only) PChargeThresh Int Unused on Pioneer LX...
  • Page 125 10 Colrumbia Drive • Amherst, NH 03450 • USA • Phone +1 603 881 7960 • www.mobilerobots.com...

Table of Contents