AgileX SCOUT 2.0 User Manual
  1. Manuals
  2. Brands
  3. AgileX Manuals
  4. Robotics
  5. SCOUT 2.0
  6. User manual

AgileX SCOUT 2.0 User Manual

Hide thumbs Also See for SCOUT 2.0:
Table of Contents

Advertisement

Quick Links

Download this manual
SCOUT 2.0 User Manual
AgileX Robotics Team
Version 2.0 Release
To avoid the wrong operation, please read the user manual
completely before operating SCOUT 2.0.
AgileX Robotics (Dongguan) Co., Ltd.
Building 10, Small and Medium Technology Enterprise Pioneer Park,
Songshan Lake, Dongguan, China
Tel：+86-0769-22892150
Email：sales@agilex.ai
www.agilex.ai
202003

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the SCOUT 2.0 and is the answer not in the manual?

Questions and answers

Related Manuals for AgileX SCOUT 2.0

Summary of Contents for AgileX SCOUT 2.0

  • Page 1 SCOUT 2.0 User Manual AgileX Robotics Team Version 2.0 Release To avoid the wrong operation, please read the user manual completely before operating SCOUT 2.0. AgileX Robotics (Dongguan) Co., Ltd. Building 10, Small and Medium Technology Enterprise Pioneer Park, Songshan Lake, Dongguan, China Tel：+86-0769-22892150...
  • Page 2 AgileX Robotics (Dongguan) Co.,Ltd. Revision History Person in Version Content of Changes Date Charge V2.0.0 1. Added SCOUT2.0 product explanation pictures. XieZhiqiang 2020/3/2...

  • Page 3: Table Of Contents

    3.4.3 Serial connection ..........................30 3.5 Firmware upgrades ........................... 30 3.6 Use example of SCOUT 2.0 SDK ......................31 3.7 Use example of SCOUT 2.0 ROS Package ....................32 4. Precautions ................................34 4.1 Battery ................................. 34 4.2 Operational environment .......................... 34 4.3 Electrical/extension cords .........................

  • Page 4: Safety At A Glance

     Carry out remote control within the range of visibility.  As the maximum load of SCOUT 2.0 is 50 kg, when using, make sure the effective load does not exceed 50 kg.  When SCOUT 2.0 is installed with external expansion, verify the barycenter location of the expansion and make sure is located in the rotation center.

  • Page 5: Introduction

    CAN / RS232 DJI RC transmitter is provided (optional) in the factory setting of SCOUT 2.0, which allows users to control the chassis of robot to move and turn; CAN and RS232 interfaces on SCOUT 2.0 can be used for user’s customization.

  • Page 6: The Basics

    AgileX Robotics (Dongguan) Co.,Ltd. 2. The Basics This section provides a brief introduction to the SCOUT 2.0 mobile robot platform, as shown in Figure 2.1 and Figure 2.2. Figure 2.1 Front View Stop Switch Figure 2.1 Front View Standard Profile Support...

  • Page 7: Status Indication

    2.2 Instructions on electrical interfaces 2.2.1 Top electrical interface SCOUT 2.0 provides two 4-pin aviation connectors and one DB9 (RS232) connector. (The current version can be used for upgrade of firmware but do not support for command.) The position of the top aviation connector is shown in Figure 2.3.

  • Page 8: Rear Electrical Interface

    Figure 2.3 Schematic Diagram of SCOUT 2.0 Electrical Interface on Top SCOUT 2.0 has an aviation extension interface both on top and at rear end, each of which is configured with a set of power supply and a set of CAN communication interface. These interfaces can be used to supply power to extended devices and establish communication.
  • Page 9 AgileX Robotics (Dongguan) Co.,Ltd. Rear Panel Rearview Figure 2.5 Rear View Specific definitions for pins of Q4 are shown in Figure 2.6. Pin No. Definition RS232-RX RS232-TX Figure 2.6 Illustration Diagram of Q4 Pins The rear panel provides the same CAN communication interface and 24V power interface with the top one (two of them are internally inter-connected).

  • Page 10: Instructions On Remote Control

    2.3 Instructions on remote control FS_i6_S remote control instructions FS RC transmitter is an optional accessory of SCOUT 2.0 for manually controlling the robot. The transmitter comes with a left-hand-throttle configuration. In addition to the two sticks S1 and S2 used...

  • Page 11: Instructions On Lighting Control

    Figure 3.0 Schematic Diagram of Reference Coordinate System for Vehicle Body As shown in Figure 3.0, the vehicle body of SCOUT 2.0 is in parallel with X axis of the established reference coordinate system. Following this convention, a positive linear velocity corresponds to the forward movement of the vehicle along positive x-axis direction and a positive angular velocity corresponds to positive right-hand rotation about the z-axis.

  • Page 12: Getting Started

    • Emergency stop  Press down emergency push button both on the left and the right of SCOUT 2.0 vehicle body; Basic operating procedure of remote control: After the chassis of SCOUT 2.0 mobile robot is started correctly, turn on the RC transmitter and select the remote-control mode.

  • Page 13: Communication Using Can

    29.2V; the recharging duration is calculated as 30aH ÷ 10A = 3.3 Communication using CAN SCOUT 2.0 provides CAN and RS232 interfaces for user customization. Users can select one of these interfaces to conduct command control over the vehicle body.
  • Page 14 AgileX Robotics (Dongguan) Co.,Ltd. Failure information byte [5] lower 8 bits Count paritybit 0 - 255 counting loops, which will be byte [6] unsigned int8 (count) added once every command sent Parity bit byte [7] unsigned int8 Parity bit (checksum) Table 3.2 Description of Failure Information...
  • Page 15 AgileX Robotics (Dongguan) Co.,Ltd. [3]: The over-temperature protection of motor drive and the motor over-current protection will be internally processed. When the temperature of motor drive is higher than the protective temperature, the drive output will be limited, the vehicle will slowly stop, and the control value of movement control command will become invalid.
  • Page 16 (checksum) Note 1 - Control mode instructions In case the RC transmitter is powered off, the control mode of SCOUT 2.0 is defaulted to command control mode, which means the chassis can be directly controlled via command. However, even though the chassis is in command control mode, the control mode in the command needs to be set to 0x01 for successfully executing the speed command.
  • Page 17 AgileX Robotics (Dongguan) Co.,Ltd. 0x01 0x00 0x0a 0x00 0x00 0x00 0x00 0x44 2. The vehicle rotates at 0.07853rad/s. byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] 0x01 0x00 0x00 0x0a 0x00 0x00...
  • Page 18 AgileX Robotics (Dongguan) Co.,Ltd. No.1 drive current byte [0] higher 8 bits Actual current X 10 unsigned int16 No.1 drive current (with an accuracy of 0.1A) byte [1] lower 8 bits No.1 drive rotational byte [2] speed higher 8 bits...
  • Page 19 AgileX Robotics (Dongguan) Co.,Ltd. chassis control unit Data length 0x08 Position Function Data type Description No.3 drive current byte [0] higher 8 bits Actual current X 10 unsigned int16 (with an accuracy of 0.1A) No.3 drive current byte [1] lower 8 bits No.3 drive...
  • Page 20 AgileX Robotics (Dongguan) Co.,Ltd. temperature 1℃) Count parity bit 0 - 255 counting loops, which will be byte [6] unsigned int8 (count) added once every command sent Parity bit byte [7] unsigned int8 Parity bit (checksum)
  • Page 21 AgileX Robotics (Dongguan) Co.,Ltd. Table 3.9 Lighting Control Frame Command Lighting Control Frame Name Receive-timeout Sending node Receiving node Cycle (ms) (ms) Decision-making Steer-by-wire chassis 25ms 0x140 None control unit Data length 0x08 Position Function Data type Description Lighting control...
  • Page 22 AgileX Robotics (Dongguan) Co.,Ltd. 0x00 NC 0x01 NO byte [1] Current front light mode unsigned int8 0x02 BL mode 0x03 User-defined brightness Current custom [0, 100], where 0 refers to no brightness, byte [2] unsigned int8 brightness of front light...

  • Page 23: Can Cable Connection

    Figure 3.1 CAN Message Check Algorithm 3.3.2 CAN cable connection 2 aviation male plugs are supplied along with SCOUT 2.0 as shown in Figure 3.2. Users need to lead wires out by welding on their own. For wire definitions, please refer to Table 2.2.

  • Page 24: Serial Message Protocol

    AgileX Robotics (Dongguan) Co.,Ltd. 3.4.2 Serial message protocol • Basic parameters of communication Item Parameter Baud rate 115200 Check No check Data bit length 8 bits Stop bit 1 bit • Protocol specification Frame Command Comman Checksum Start bit Data field...
  • Page 25 AgileX Robotics (Dongguan) Co.,Ltd. Sending node Receiving node Cycle (ms) Receive-timeout (ms) Decision-making control Steer-by-wire chassis 20ms None unit Frame length 0x0a Feedback command Command type (0xAA) Command ID 0x01 Data field length Position Function Data type Description 0x00 System in normal...
  • Page 26 AgileX Robotics (Dongguan) Co.,Ltd. bit [2] No.1 motor communication failure (0: No failure 1: Failure) bit [3] No.2 motor communication failure (0: No failure 1: Failure) bit [4] No.3 motor communication failure (0: No failure 1: Failure) bit [5] No.4 motor communication failure (0: No failure 1: Failure)
  • Page 27 AgileX Robotics (Dongguan) Co.,Ltd. byte [5] Reserved 0x00  Movement control command Command Name Control Command Sending node Receiving node Cycle (ms) Receive-timeout (ms) Decision-making control Chassis node 20ms 500ms unit Frame length 0x0A Command type Control command (0x55) Command ID...
  • Page 28 AgileX Robotics (Dongguan) Co.,Ltd. byte [5] Reserved 0x00  No. 2 motor drive information feedback frame Command Name No. 2 Motor Drive Information Feedback Frame Sending node Receiving node Cycle (ms) Receive-timeout (ms) Decision-making control Steer-by-wire chassis 20ms None unit...
  • Page 29 AgileX Robotics (Dongguan) Co.,Ltd. (HDD) temperature accuracy of 1℃) byte [5] Reserved 0x00  No. 4 motor drive information feedback frame Command Name No. 4 Motor Drive Information Feedback Frame Sending node Receiving node Cycle (ms) Receive-timeout (ms) Decision-making control...
  • Page 30 AgileX Robotics (Dongguan) Co.,Ltd. [0, 100], where 0 refers to Custom brightness of byte [2] unsigned int8 no brightness, 100 refers front light to maximum brightness 0x00 NC 0x01 NO byte [3] Rear light mode unsigned int8 0x02 BL mode...

  • Page 31: Serial Connection

    500ms, it will enter the disconnected protection status. 3.5 Firmware upgrades The RS232 port on SCOUT 2.0 can be used by users to upgrade the firmware for the main controller in order to get bugfixes and feature enhancements. A PC client application with graphical user interface is provided to help make the upgrading process fast and smooth.

  • Page 32: Use Example Of Scout 2.0 Sdk

    Upgrade procedure: • Before connection, ensure the robot chassis is powered off; • Connect the serial cable onto the serial port at rear end of SCOUT 2.0 chassis; • Connect the serial cable to the computer; • Open the client software;...

  • Page 33: Use Example Of Scout 2.0 Ros Package

    AgileX Robotics (Dongguan) Co.,Ltd. chassis of SCOUT 2.0 mobile robot and can obtain the latest status of the robot and control basic actions of the robot. For now, CAN adaptation to communication is available, but RS232-based adaptation is still under way.
  • Page 34 AgileX Robotics (Dongguan) Co.,Ltd. $ sudo apt install can-utils  If can-to-usb has already been connected to SCOUT 2.0 this time and the vehicle has been turned on, following command can be used to monitor the data from SCOUT 2.0 chassis.

  • Page 35: Precautions

    The battery supplied with SCOUT 2.0 is not fully charged in the factory setting, but its specific power capacity can be displayed on the voltmeter at rear end of SCOUT 2.0 chassis or read via CAN bus communication interface. The battery recharging can be stopped when the green LED on the charger turns green.

  • Page 36: Electrical/Extension Cords

    4.4 Mechanical load 4.5 Other notes • SCOUT 2.0 has plastic parts in front and rear, please do not directly hit those parts with excessive force to avoid possible damages; • When handling and setting up, please do not fall off or place the vehicle upside down;...

  • Page 37: Q&A

    Q:Is the tire wear of SCOUT 2.0 is normally seen in operation? The tire wear of SCOUT 2.0 is normally seen when it is running. As SCOUT 2.0 is based on the four-wheel differential steering design, sliding friction and rolling friction both occur when the vehicle body rotates.

  • Page 38: Product Dimensions

    AgileX Robotics (Dongguan) Co.,Ltd. 6. Product Dimensions 6.1 Illustration diagram of product external dimensions...

  • Page 39: Illustration Diagram Of Top Extended Support Dimensions

    AgileX Robotics (Dongguan) Co.,Ltd. 6.2 Illustration diagram of top extended support dimensions...

Table of Contents