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Related Manuals for AgileX HUNTER 2.0
Summary of Contents for AgileX HUNTER 2.0
- Page 1 HUNTER 2.0 AgileX Robotics Team User Manual 2021.03 V.2.1.0...
- Page 2 If you have any questions about use, please contact us at support@agilex.ai. Please follow and implement all assembly instructions and guidelines in the chapters of this manual, which is very important. Particular...
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Page 3: Safety Information
The design and use of the complete system need to comply with the safety requirements established in the standards and regulations of the country where the robot is installed. HUNTER 2.0 integrators and end customers have the responsibility to ensure compliance with the applicable laws and regulations of relevant countries, and to ensure that there are no major dangers in the complete robot application. - Page 4 1 HUNTER 2.0 Introduction 3.3.3 Implementation of CAN 1.1 Component list command control control 1.2 Tech specifications 3.4 Firmware upgrades 1.3 Requirement for development 3.5 HUNTER2.0 ROS Package 2 The Basics 4 Attention 2.1 Status indication 4.1 Battery 2.2 Instructions on electrical interfaces 4.2 Operational environment...
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Page 5: Component List
1.3Requirement for development FS RC transmitter is provided (optional) in the factory setting pf HUNTER 2.0, which allows users to control the chassis of robot to move and turn; CAN and RS232 interfaces on HUNTER 2.0 can be used for user’ s customization. - Page 6 2 The Basics The section provides a brief introduction to the HUNTER 2.0 mobile robot platform, as shown in Figure 2.1 and 2.2 1.Standard Profile Support 2.Top Cabin Panel Figure 2.1 Front View 3.Top Extend Interface 4.Emergency Stop Switch 5.Ackermann Front Wheel Steering 1.Emergency Stop Switch...
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Page 7: Status Indication
Figure 2.3 Schematic Diagram of HUNTER 2.0 Electrical Interface on Top HUNTER 2.0 has each aviation extension interface respectively on top and at rear end 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 8 Top DB9 expansion interface pin definition. Definition Pin No. RS232-RX RS232-TX Figure 2.5 Description of Top DB9 interface 2.2.2 Rear electrical interface The extension interface at rear end is shown in Figure 2.6, where Q1 is the power display; Q2 is the switch of manual parking release; Q3 is the power switch;...
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Page 9: Remote Control Instructions
2.3 Remote control instructions FS RC transmitter is provided (optional) for HUNTER 2.0. In this product, we use the left-hand-throttle design. Refer to Figure 2.8 for its definition and function. The function of the button is defined as: SWC and SWD are temporarily disabled. -
Page 10: Battery Replacement
Basic operating procedure of remote control After the chassis of HUNTER 2.0 mobile robot is started correctly, turn on the RC transmitter and push the SWB to the remote control mode, then, HUNTER 2.0 platform movement can be controlled by the RC transmitter. - Page 11 Table 3.1 Feedback Frame of HUNTER 2.0 Chassis System Status Command Name System Status Feedback Frame Sending node Receiving node Cycle (ms) Receive-timeout (ms) Steer-by-wire chassis Decision-making control unit 0x211 100ms None Data length 0×08 Position Function Data type Description 0×00 System in normal condition...
- Page 12 The command of movement control feedback frame includes the feedback of current linear speed and turning angle of chassis body. For the detailed content of protocol, please refer to Table 3.2. Table 3.2 Movement Control Feedback Frame Command Name Movement Control Feedback Command Sending node Receiving node Cycle (ms)
- Page 13 Power-on enters standby mode default Description of control mode: In case the HUNTER 2.0 is powered on and the RC transmitter is not connected, the control mode is defaulted to standby mode. At this time, the chassis only receives control mode command, and does not respond other commands. To use CAN for control need to switch CAN command mode at first.
- Page 14 The chassis status information will be feedback, and what’ s more, the information about motor current, encoder and temperature are also included. The following feedback frame contains the information about motor current, encoder and motor temperature. The motor numbers of the four motors in the chassis correspond to: steering No. 1, right rear wheel No. 2, and left rear wheel No. 3 Motor speed current position information feedback Motor Drive High Speed Information Feedback Frame Command Name...
- Page 15 Drive Status Byte Description bit [0] Whether the power supply voltage is too low (0:Normal 1:Too low) bit [1] Whether the motor is overheated (0:Normal 1:Overheated) bit [2] Whether the drive is over current (0:Normal 1:Over current) bit [3] Whether the drive is overheated (0:Normal 1:Overheated) bit [4] Sensor status (0:Normal 1:Abnormal) byte [5]...
- Page 16 Command Name BMS Data Feedback Sending node Receiving node Cycle (ms) Receive-timeout (ms) Steer-by-wire Decision-making control unit 0x361 500ms None chassis 0×08 Description Date length Function Date type Range 0~100 byte [0] Battery SOC unsigned int8 Range 0~100 byte [1] Battery SOH unsigned int8 byte [2]...
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Page 17: Firmware Upgrades
3.4 Firmware upgrades In order to facilitate users to upgrade the firmware version used by HUNTER 2.0 and bring customers a more complete experience, HUNTER 2.0 provides a firmware upgrade hardware interface and corresponding client software. A screenshot of this application is shown in Figure 3.3. - Page 18 AGILEX HUNTER 2.0 top aviation power socket ×1 Hardware connection and preparation Lead out the CAN wire of the HUNTER 2.0 top aviation plug or the tail plug, and connect CAN_H and CAN_L in the CAN wire to the CAN_TO_USB adapter respectively;...
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Page 19: Operational Environment
A: Normally, if HUNTER 2.0 can be controlled by a RC transmitter, it means the chassis movement is under proper control; if the chassis feedback frame can be accepted, it means CAN extension link is in normal condition. Please check the CAN control frame sent to see whether the data check is correct and whether the control mode is in command control mode. -
Page 20: Product Dimensions
6 Product Dimensions 6.1 Illustration diagram of product external dimensions... - Page 21 6.2 Illustration diagram of top extended support dimensions...
- Page 22 AgileX Robotics CO., Ltd WWW.AGILEX.AI Email： sales@agilex.ai TEL:+86-769-22892150...
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