Adept MobileRobots Pioneer 3 Operation Manual
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Adept MobileRobots Pioneer 3 Operation Manual

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Pioneer 3
Operations Manual
P3DX-SH , P3AT-SH with ARCOS
Mobile Robots for Research and Education
P3X0001, P3T0001
Revision 6.4 - October 31, 2013

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Summary of Contents for Adept MobileRobots Pioneer 3

  • Page 1 Pioneer 3 Operations Manual P3DX-SH , P3AT-SH with ARCOS Mobile Robots for Research and Education P3X0001, P3T0001 Revision 6.4 - October 31, 2013...
  • Page 2 MobileEyes™ are trademarks and registered trademarks of Adept MobileRobots. Other names and logos for companies and products mentioned or featured in this document 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 by Adept MobileRobots. About Adept MobileRobots In 1995, ActivMedia, Inc.
  • Page 3 Continuing to run the robot after hair, yarn, string, or any other items have become wound around the robot’s axles or wheels Opening the robot with charger attached and/or batteries inserted All other forms of inappropriate operation or care Use Adept MobileRobots authorized parts ONLY; warranty void otherwise.

  • Page 5: Table Of Contents

    Contents Chapter 1 Introduction Robot Packages Basic Components (all shipments) Optional Components and Attachments (partial list) User-Supplied Components / System Requirements Additional Resources Support Website Newsgroups Support Chapter 2 What Is Pioneer? Pioneer Reference Platform Pioneer Family of Robot Microcontrollers and Operations Software Software and Pioneer SDK Ports and Power Modes of Operation...
  • Page 6 Demo Client Starting Up ARIA Demo Demo Startup Options A Successful Connection Operating the ARIA Demonstration Client Disconnecting Networking with MobileEyes Start serverDemo Start MobileEyes and Connect with serverDemo Operating MobileEyes Quickstart Troubleshooting Parameter Files Proper Connections Chapter 6 ARCOS Client-Server Communication Packet Protocols Packet Checksum Packet Errors...
  • Page 7 Chapter 7 Updating & Reconfiguring ARCOS Where to Get ARCOS Software ARCOS Maintenance Mode Enabling Maintenance Mode ARCOScf Starting ARCOScf Start Up Arguments Configuring ARCOS Parameters Interactive Commands Changing Parameters Save Your Work PID Parameters DriftFactor, Ticksmm and RevCount StallVal and StallCount Bumpers README Chapter 8 Calibration &...

  • Page 9: Chapter 1 Introduction

    Adept MobileRobots platform and our manufactured accessories against mechanical, electronic, and labor defects for one year. Third-party accessories are warranted by their manufacturers, typically for 90 days. Even though we’ve made every effort to make your Adept MobileRobots package complete, please check the components carefully after you unpack them from the shipping crate.

  • Page 10: User-Supplied Components / System Requirements

    Four megabytes of available hard-disk storage DDITIONAL ESOURCES New Adept MobileRobots customers get three additional and valuable resources: A private account on our support Internet website for downloading software, updates, and manuals Access to private newsgroups Direct access to the Adept MobileRobots technical support team...

  • Page 11: Support

    Tell us your robot’s SERIAL NUMBER. Your message goes directly to the Adept MobileRobots technical support team. There a staff member will help you or point you to a place where you can find help.

  • Page 12: Chapter 2 What Is Pioneer

    Pioneer 2 and PeopleBot (V1) robots used a Siemens C166-based microcontroller with Pioneer 2 Operating System (P2OS) software. AmigoBot introduced an Hitachi H8S-based microcontroller with AmigOS in 2000. From 2002 until Fall of 2004, Pioneer 3, Performance PeopleBot and PowerBot robots also had an Hitachi H8S-based microcontroller with ActivMedia Robotics Operating System (AROS) software.

  • Page 13: Ports And Power

    ORTS AND OWER Your new Pioneer 3 robot has a variety of expansion power and I/O ports for attachment and close integration of a client PC, sensors, and a variety of accessories—all accessible through a common application interface to the robot’s server software, ARCOS.

  • Page 14: Modes Of Operation

    What is Pioneer? Analog inputs 5 and 12 VDC power Heading correction gyro port 2-axis, 2-button joystick port User Control Panel Main power and bi-color LED battery level indicators 2 AUX power switches (5 and 12 VDC) with related LED indicators RESET and MOTORS pushbutton controls Programmable piezo buzzer Motor/Power Board (drive system) internal interface to motors and encoders...

  • Page 15: Chapter 3 Specifications & Controls

    Specifications & Controls Chapter 3 Figure 3. Pioneer 3-DX features Figure 4. Pioneer 3-DX’s physical dimensions and swing radius. HYSICAL HARACTERISTICS AND OMPONENTS Pioneer robots are composed of several main parts: Deck Motor Stop Button (optional on DX) User Control Panel...

  • Page 16: Deck

    Specifications & Controls Pioneer 3 models have hinged top-plates which give you much easier access to the internal components of the robot. See Chapter 8, Calibration & Maintenance, for access details. The robot’s deck or top plate is simply the flat surface for mounting projects and accessories, such as the PTZ Robotic Camera and a laser range finder.

  • Page 17: Serial Port

    CCESSORY ANELS Your Pioneer 3’s sturdy, but lightweight aluminum body houses the batteries, drive motors, electronics and other common components, including the front and rear SONAR arrays. The body also has sufficient room, with power and signal connectors, to support a variety of robotics accessories inside, including an A/V wireless surveillance system, radio Ethernet, onboard computer, laser range finder and more.

  • Page 18: Nose

    The SONAR positions in all Pioneer 3 SONAR arrays are fixed: one on each side, and six facing outward at 20-degree intervals. Together, fore and aft SONAR arrays provide 360 degrees of nearly seamless sensing for the platform.

  • Page 19: Motors, Wheels, And Position Encoders

    ATTERIES AND OWER Except when the DX is outfitted with the auto-recharging system (see next Chapter), Pioneer 3 robots contain up to three, hot-swappable, seven- or nine- ampere-hour, 12 volts direct-current (VDC), sealed lead/acid batteries (total of 252 watt-hours), accessible through a hinged and latched rear door. We provide a suction cup tool to help grab and slide each battery out of its bay.

  • Page 20: Safety Arcos Watchdogs

    Specifications & Controls With the high-speed (4A maximum current) charger, recharge time is greatly reduced. It also supplies sufficient current to continuously operate the robot and onboard accessories, such as the onboard PC and radios. But with the higher- current charger, care must be taken to charge at least two batteries at once. A single battery may overcharge and thereby damage both itself and the robot.

  • Page 21: Chapter 4 Accessories

    Please also refer to the detailed documents that come with the accessory. OYSTICK AND OYDRIVE Although not all models come standard with an external joystick connector, your Pioneer 3 robot’s microcontroller has a joystick port and ARCOS contains a server for manual operation.

  • Page 22: Automated Recharging Accessory

    ONTROLS AND CCESSORIES All Adept MobileRobots platforms are servers in a client-server architecture. You supply the client software to run your intelligent mobile-robot applications. The client can run on either an onboard piggy-back laptop or embedded PC, or an off-board PC connected through radio modems or wireless serial Ethernet. In all cases, that client PC must connect to...

  • Page 23: Integrated Pc

    NTEGRATED Mounted just behind the nose of the robot, the Pioneer 3 integrated PC is a common EBX form-factor board that comes with up to four serial ports, 10/100Base-T Ethernet, monitor, keyboard and mouse ports, USB ports and a hard-disk.

  • Page 24: Operating The Onboard Pc

    Accessories controls of the AT. The controls and ports use common connectors: standard monitor DSUB and PS/2 (older computers) or USB (newer computers) connectors on the mouse and keyboard. The Ethernet is a 10/100Base-T standard RJ-45 socket. slide switch controls power to the onboard PC. The LED lights when the computer has power.

  • Page 25: Genpowerd

    the computer OS to communicate with them. Unless you change internal settings on these devices, you can leave them as configured by MobileRobots. genpowerd To protect your robot’s onboard PC data, ARCOS can signal Linux to shutdown when the battery power is low. ARCOS raises the HOST RS-232 serial port's DSR pin 6 to high and puts the RI pin 9 to low when the microcontroller is operating normally and your robot’s battery power is above the value set in the firmware configuration...

  • Page 26: Chapter 5 Quick Start

    Install Batteries Out of the box, your Pioneer 3 robot comes with its batteries fully charged. The batteries are shipped separately.. Slide at least one and up to three batteries into the robot’s battery box through the back door. : If using a single battery, place it in the center.

  • Page 27: Starting Up Aria Demo

    ARIA D TARTING ARIA’s examples are text-based terminal-like applications that do not include a GUI, so its programs do not require X- Windows over Linux or special software on a remote PC client—a simple or PuTty session will do the trick. First, please note well that you cannot connect with and control your robot through its microcontroller directly from a remote client over the network without special hardware (wireless Ethernet-to-serial device) or, alternatively, special software that runs on the onboard computer and converts IP packets into serial data.

  • Page 28: A Successful Connection

    Quick Start A Successful Connection ARIA prints out lots of diagnostic text as it negotiates a connection with the robot. If successful, the client requests various ARCOS servers to start their activities, including SONAR polling, position integration and so on. microcontroller sounds an audible connection cue and you should hear the robot’s SONAR ping with a distinctive and repetitive clicking.

  • Page 29: Disconnecting

    system. Access each ARIA demo mode by pressing its related hot-key: ‘ ’, for instance, to select . Each mode teleoperation includes onscreen instructions and may have sub-menus for operating of the respective device. ISCONNECTING When you finish, press the key to disconnect the ARIA client from your robot server and exit the ARIA demonstration program.

  • Page 30: Parameter Files

    The most common mistake is not having your robot’s “parameter” file located in the directory. For Aria/params Pioneer 3’s, the ARIA-parameter filenames are . These and all other Adept MobileRobots p3dx-sh.p or p3at-sh.p platform ARIA-based parameter files either come with the latest version of ARIA with ARNetworking or can be retrieved from the support website.

  • Page 31: Chapter 6 Arcos

    ARCOS Chapter 6 All Adept MobileRobots platforms use a two-tier client-server mobile robot-control architecture. In the model, firmware on the robot’s embedded controller works to manage all the low-level details of the mobile robot’s systems. These include operating the motors, firing the SONAR, collecting and reporting SONAR and wheel encoder data and so onall on command from and reporting to a separate client application, such as the ARIA demo.

  • Page 32: Packet Checksum

    ARCOS Table 4. Client command packet protocol OMPONENT YTES ALUE ESCRIPTION header 0xFA, 0xFB Packet header; same for client and server byte count Number command/argument bytes plus Checksum’s two bytes, but not including Byte Count itself or the header bytes. Maximum of 249.

  • Page 33: The Client-Server Connection

    Because of the real-time nature of client-server mobile-robotics interactions, we made a conscious decision to provide an unacknowledged communication packet interface. Retransmitting server information or command packets typically serves no useful purpose because old data is useless in maintaining responsive robot behaviors. Nonetheless, the client-server interface provides a simple means for dealing with ignored command packets: Most of the client commands alter state variables in the server.

  • Page 34: Server Information Packets

    ARCOS Server Information Packets Once ed, ARCOS automatically and repeatedly sends a packet of information over the serial port back to the OPEN HOST connected client. The standard ARCOS SIP informs the client about a number of operating states and readings, using the order and data types described in the nearby Table.

  • Page 35: Keeping The Beat-Pulse

    byte Byte-encoded User I/O digital output DIGOUT Actual battery voltage in 0.1 V (especially useful for BATTERY battery voltages > 25.5) byte Version 1.5 and later. Automated recharging state byte; CHARGESTATE unknown; 0=not charging; 1=bulk; 2=overcharge; 3=float. Current rotational velocity in degrees X 10 per sec ROTVEL Not used on Pioneer.
  • Page 36 ARCOS none Start connection. Send in sequence. ARCOS echoes SYNC none synchronization commands back to client, and SYNC none robot-specific auto-synchronization after SYNC2. SYNC After Established Connection: none Reset server watchdog. PULSE none Start up servers. OPEN none Close servers and client connection. CLOSE Change SONAR polling sequence.
  • Page 37 port(s) for change; Bits 0-7 set (1) or reset (0) the selected port(s). Set independent wheel velocities; bits 0-7 for right byte wheel, bits 8-15 left wheel; 20mm/sec increments. Gripper server commands. See the Gripper or PeopleBot GRIPPER Manual for details. Selects port number...

  • Page 38: Robots In Motion

    ARCOS bytes 3- = up to 20 chars, NULL-terminated. Send string argument out to device connected at AUX3 serial port. Request retrieve 1-200 bytes from device GETAUX connected at the AUX3 serial port; 0 flushes the buffer. Send string argument out to device connected at AUX2 serial port.

  • Page 39: Client Motion Commands

    DHEAD (#13), Turn to heading relative to control point at SETRV max velocity DCHEAD (#22) ROTATE (#9) Rotate at SETRV velocity RVEL (#21) Rotate at + (counter) or – (clockwise) deg/sec up to SETRV max RANSLATION VEL (#11) Translate forward/reverse at SETV prescribed velocity MOVE (#8) Translate forward (+5000 maximum) or backward (-4999mm maximum) distance at SETV velocity...

  • Page 40: Pid Controls

    Position Integration Adept MobileRobots platforms track their position and orientation based on dead-reckoning from wheel motion derived from encoder readings and from the integrated gyroscope accessory when attached and enabled. The ARCOS-based robot maintains its internal coordinate position in platform-dependent units, but reports the values in platform- independent millimeters and angular units (2π/4096 radians) in the standard SIP (Xpos, Ypos, and Thpos).

  • Page 41: Driftfactor, Revcount, And Ticksmm

    Be aware that registration between external and internal coordinates deteriorates rapidly with movement due to gearbox play, wheel imbalance and slippage, and many other real-world factors. You can rely on the dead-reckoning ability of the robot for just a short range—on the order of a few meters and one or two revolutions, depending on the surface.

  • Page 42: Polling Rate

    ARCOS command string argument consists of a sequence of SONAR numbers one through 32. SONAR numbers POLLING one through eight get added to the polling sequence for 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.

  • Page 43: Accessory Commands And Packets

    E_stall engaged Several types of alternative server information packets (SIPs) come Far ledge detected (IR) with ARCOS to better support the Adept MobileRobots community. On request from the client by a related ARCOS command, the Near ledge detected (IR) ARCOS server packages and sends one or a continuous stream of...
  • Page 44 ARCOS 4mots byte Antiquated (=1 if AT with P2OS) Rotveltop Maximum rotation velocity; deg/sec Transveltop Maximum translation speed; mm/sec Rotacctop Maximum rotation (de)acceleration; deg/sec Transacctop Maximum translation (de)acceleration; mm/sec PWMmax Maximum motor PWM (limit is 500). Name Unique name given to your robot. SIPcycle byte Server information packet cycle time;...

  • Page 45: Serial

    Transki Current Integral PID for translation. Frontbumps byte Number of front bumper segments. Rearbumps byte Number of rear bumper segments. Charger byte 1 if P3/PeopleBot or 2 if PowerBot automated charger mechanism and circuitry installed in robot; otherwise 0. SONARcycle byte SONAR duty cycle time in milliseconds.

  • Page 46: Encoders

    UZZER OUNDS Pioneer 3 robots have a piezo buzzer on the User Control Panel that aurally notifies you of system conditions, such as low batteries or stalls. For stealthy operation, issue the command #92 with an argument of zero to mute the SOUNTOG microcontroller’s buzzer or argument of one to re-enable it.

  • Page 47: Tcm2 Compass

    Motor stall repetitive beep Joystick calibration† repetitive beep Self-test mode† repetitive beep Joystick calibrated† one-time trill Watchdog timeout repetitive beep EStop active† repetitive beep † On some robot models TCM2 C OMPASS The accessory is an integrated inclinometer, magnetometer, thermometer and compass that attaches to one of the Aux serial ports of the ARCOS microcontroller.

  • Page 48: Calibration

    ARCOS Temperature integer Temperature degrees C times 10 Error integer Bit-mapped error code (see TCM2 User’s Manual meanings) Calibration byte H score (0-9) Scores byte V score (0-9) integer M score times 100 Checksum integer SIP checksum Use the command #45 to calibrate the device and to request additional information in the form of the TCM2 client .

  • Page 49: Input Output (I/O)

    See Appendix A for port locations and specifications. User I/O The User I/O connector on the Pioneer 3 microcontroller contains eight digital input (ID0-7) and eight digital output (OD0-7) ports, as well as an analog-to-digital (AN0) port. Additional analog ports are present in the joystick connector and “tilt/roll”...

  • Page 50: Bumper And Ir I/O

    Analog ports 0-7 input values at 10-bit 0-1023 resolution: 0-1023 = 0-5 VDC Battery 0-1023 Battery analog input (AN3 Pioneer 3) Checksum varies Computed checksum * Actual, not affected by since bumper bits may be used for other digital input besides bumpers.

  • Page 51: Heading Correction Gyro

    ARCOS supports a (type=224; 0xE0) packet type and related command #37 to retrieve GRIPPERpac GRIPREQUEST setup and status information from the servers. Normally disabled, your client program may request one or a continuous stream (command argument greater than one) of Gripper packets. Send with the argument value zero to stop continuous packets.

  • Page 52: Client-Side Gyro

    ARCOS What happens next depends on the setting. HasGyro Client-Side Gyro With set to one (legacy), ARCOS simply collects the gyro readings and will, upon request by the client with HasGyro command GYROREQUEST #58 and argument 1 (zero to cancel), send the collected data just before the standard SIP to a connected client in a (type=0x98) server information packet for processing.

  • Page 53: Digital Port Controls

    Digital Port Controls When set digital high (1), the "inhibit" port OD4 on pin 10 of the User I/O connector (see Appendix A) causes the robot’s power-contact mechanism to disengage, retract from the power platform and inhibits its future deployment. The "deploy"...
  • Page 54 ARCOS Table 16. Recharging cycle states SIP C HARGE TATE VERCHARGE OLTS HARGE CURRENT HARGING Unknown Not charging 0 or 1 Bulk discharge- Overcharge ~14-14.7 decreases to ~1A Float ~13.5 < 1A bytes of the standard SIP also reflect the states of the associated charging digital input and DIGIN DIGOUT output bits.
  • Page 55 Updating & Reconfiguring ARCOS Chapter 7 The ARCOS firmware and a set of operating parameters get stored in your Pioneer 3 microcontroller's FLASH memory. With special upload and configuration software tools, you change and update ARCOS, too. No hardware modification is required.
  • Page 56 , is part of a collection of utilities and files for comprehensive ARCOScf management of your Pioneer 3 robot’s onboard servers and FLASH-based operating parameters. The distribution archive for the software is simply named are the version major and minor numbers, such as 1_0), ARCOSV_v with a “.
  • Page 57 baudrate Specify the port connection baud rate paramsfile On exit from ARCOScf, automatically save the current parameter values to the named .rop paramsfile To start up ARCOScf and make a connection with a serial port other than the default COM1 ttyS0 C:\Program Files\MobileRobots\ARCOS>...
  • Page 58 (.rop) disk later reference. q or quit Exits ARCOScf. ? or help Displays these commands and descriptions. Table 19. Sample ARCOS FLASH configuration parameters with values for Pioneer 3–DX EYWORD EFAULT ESCRIPTION type Pioneer Identifies the robot type. subtype P3DX-SH Identifies the robot model.
  • Page 59 sipcycle byte Server information packet cycle time increments. Default is classic 100 ms. watchdog 2000 Ms time before robot automatically stops if it has not received a command from a client. Restarts on restoration of connection. soundtog byte 0 disables the buzzer SONARcycle byte SONAR cycle time in milliseconds...
  • Page 60 Updating and Reconfiguring ARCOS stallcount Ms time motors disabled after a stall for recovery. pwmmax Maximum motor PWM (500 maximum). rotveltop Maximum rotation velocity; deg/sec transveltop 1500 Maximum translation speed; mm/sec rotacctop Maximum rotation (de)acceleration; deg/sec transacctop 2000 Maximum translation (de)acceleration; mm/sec rotvelmax Max rotation speed;...
  • Page 61 value is the number of encoder pulses (“ticks”) per millimeter of wheel rotation. The value is, of course, TicksMM dependent upon the wheel encoder’s resolution, the motor-to-wheel gear ratio and the wheel’s diameter. value is the differential number of encoder ticks for a 180-degree turn of the robot. It depends on a RevCount number of factors, principally the length of the wheel base which may change due to payload, tire wear, operating surface and so on.
  • Page 62 Updating and Reconfiguring ARCOS Use the FLASH parameters to associate the IR/extended bumper ports with a front and/or rear frontIRs rearIRs bumper, respectively. Each parameter value is a string of eight characters. Each character, in sequence, represents the IR ports 1-8. Set the value of each character position to the number of the bumper you want that IR port to effect; otherwise, '0' for no association/IR bumper.
  • Page 63 Your Adept MobileRobots platform is built to last a lifetime and requires little maintenance. NFLATION Maintain even tire inflation for proper navigation of your Pioneer 3-AT. We ship with each pneumatic tire inflated to 23 psi. If you change the inflation, remember to adjust the FLASH values.
  • Page 64 ATTERIES Lead-acid batteries like those in your Pioneer 3 robot last longest when kept fully charged. In fact, severe discharge is harmful to the battery, so be careful not to operate the robot if the battery voltage falls below 11 VDC. You may charge the batteries as often as needed or as long as needed, this will not damage the batteries or change their behavior.
  • Page 65 RIVE Occasionally, particularly after heavy use, the Pioneer 3- or 2-AT drive belts that mechanically link the front and rear motors on each side will loosen and slip, resulting in a load popping noise. To tighten them, start with a 3mm hex key to loosen, but not remove, the three screws on the side of the robot near the front wheel.
  • Page 66 Removing the Nose The Pioneer 3-DX and –AT onboard computer sits just behind the robot’s nose. And you may have to remove the nose to access the front SONAR array’s gain adjustment pot. Two screws hold the nose to the front SONAR (or blank) array.
  • Page 67 ACTORY EPAIRS If, after reading this manual, you’re having hardware problems with your Pioneer 3 robot and you’re satisfied that it needs repair, contact us: http://robots.MobileRobots.com/techsupport Tell us your robot’s SERIAL NUMBER Describe the problem in as much detail as possible. Also include your robot’s serial number robot’s serial number...
  • Page 68 ORTS ONNECTORS This Appendix contains pin-out and electrical specifications for the external and internal ports and connectors on the SH2-based microcontroller for the Pioneer 3, PeopleBot and PowerBot, including motor-power interface and User Control boards. Figure 20. Mini- and micro- fit style connector Figure 19.
  • Page 69 Figure 21. SH-2 Microcontroller Board Connector Locations Main Power Input The power connector is a 3-pin microfit socket that delivers 12 and 5 VDC to the microcontroller, including power ground, supplied by the Motor-Power board (see below). Table 21. Microcontroller Power Connector DESCRIPTION 12 VDC (battery) 5VDC...
  • Page 70 Appendix B: Motor-Power Distribution Board www.digikey.com part #WM1848-ND www.mouser.com part #538-43645-0500 Table 22. HOST serial ports on microcontroller and on User Control (*) (DSUB-9 socket) SIGNAL DESCRIPTION SIGNAL DESCRIPTION *TXD Signal out *RCV Signal in Input detects attached device and switches TxD and RxD into the uC *GND Common...
  • Page 71 MobileRobots part #CAB1003 (with cable: part #CAB1075) 3M part #89120-0101 www.digikey.com part #MKC20A-ND www.mouser.com part #517-8920 Table 24. User I/O – Gripper (20-pos latching IDC) IGNAL ESCRIPTION IGNAL ESCRIPTION DIGOUT DIGIN Gripper enable Paddles open limit DIGOUT DIGIN bit 1; Gripper direction Lift limit DIGOUT bit 2;...
  • Page 72 Appendix B: Motor-Power Distribution Board Motors, Encoders Table 25. “tilt/roll” connector IGNAL ESCRIPTION IGNAL ESCRIPTION 5 VDC power AGND signal Power ground ground Motors, Encoders and IRs A 26-position latching IDC connector on the microcontroller connects the Microcontroller to the Motor-Power Board (see Appendix B).
  • Page 73 *AN0 speed control Bumpers 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). Table 28. Bumper ports (10-pos latching IDC) IGNAL ESCRIPTION IGNAL ESCRIPTION Bumper bit 0 Bumper bit 1 Bumper bit 2 Bumper bit 3...
  • Page 74 Appendix B: Motor-Power Distribution Board Gyro The heading-correction gyro accessory attaches directly with the microcontroller through its respective 6-position microfit connector. Indicated lines (*) are shared on other connectors. Table 31. Heading correction gyro connector IGNAL ESCRIPTION IGNAL ESCRIPTION 5 VDC power RATE TEMP AGND...
  • Page 75 ISTRIBUTION OARD The Motor-Power Board provides power conversion and distribution to other robot components. Figure 22. Pioneer 3 Motor-Power Board Microcontroller Connection Individual 26-pos IDC connectors and cables provide signal for the H8S- and SH2-based microcontrollers or for the legacy C166-based microcontrollers. A separate cable and connector provides for the SH2 microcontroller and SONAR power.
  • Page 76 Appendix B: Motor-Power Distribution Board (The 12-position latchlock connector to the left of the screw-down terminals was used in the past for some accessories.) Four-position microfit connectors also provide AUX power for standard accessories. AUX1 power was formerly called “Radio” power. AUX2 power is sometimes referred to or labeled as “Video” power as well. Table 33.
  • Page 77 IR Signal and Power Four connectors provide power and signal for fixed-range IR sensors. A separate connector provides signal path for an additional four IR sensors. Table 36. IR power and signal connectors (3-pos microfits) UNCTION ESCRIPTION Battery 12 VDC Switching signal Power/signal ground Table 37.
  • Page 78 Appendix C: Specifications Appendix C Chapter 12 PECIFICATIONS Pioneer 3-DX Pioneer 3-AT Physical Characteristics Physical Characteristics Physical Characteristics Physical Characteristics Length (cm) 44.5 50.1 Width (cm) 39.3 49.3 Height (cm) 23.7 27.7 Clearance (cm) Clearance bumpers (cm) Weight (kg) Payload (kg)
  • Page 79 Sensors Sensors Pioneer 3-DX Pioneer 3-AT Sensors Sensors SONAR Front Array (one each side, six 8 optional forward @ 20° intervals) Rear SONAR Array (one each side, six rear 8 optional 8 optional @ 20° intervals) Encoders (2 ea) counts/rev...
  • Page 80 Warranty & Liabilities Chapter 13 Your Adept MobileRobots platform is fully warranted against defective parts or assembly for one year after it is shipped to you from the factory. Accessories are warranted for 90 days. Use only Adept MobileRobots authorized parts or warranty void.
  • Page 81 Index Basic, 1 Body, 9 Computer, 10 acceleration, 31 Console, 8 Accessory Panels, 10 Nose, 10 ADSEL, 40 Optional, 1 ARCOS, 23, 47 User supplied, 2 ARCOScf, 49 Computer, 10 Configuring, 49 Computer Control Panel, 15 PID parameters, 52 CONFIG command, 35 revcount parameter, 52 CONFIG Packet, 35 TicksMM pararmeter, 53...
  • Page 82 Networking, 16 OPEN, 25 Genpowerd, 17 Gripper, 42 GRIPPERpac, 42 GRIPREQUEST command, 42 Packet, 23 Gyro, 43 Packets Gyroscope (Gyro), 17 Checksum, 24 Calibration, 55 Configuration, 35 Data types, 23 ENCODERpac, 38 Errors, 24 Extended, 34 HasGyro, 43 GRIPPERpac, 42 HEAD command, 31 IOpac, 41 High-speed charger, 12...
  • Page 83 SETV command, 31 SIP, 25 TCM2 Compass, 38 Software, 4 Software updates, 2 TCM2 Compass Sonar, 33 Calibration, 39 Ticksmm, 52 Firing rate, 10 Polling rate, 33 TicksMM, 33, 53 Polling sequence, 33 tires, 11 Tires, 55 SONAR, 10 Troubleshooting, 21 SONAR command, 33 Sonar Gain, 10 SONAR_CYCLE command, 33...

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