AgileX BUNKER MINI User Manual
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AgileX BUNKER MINI User Manual

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Summary of Contents for AgileX BUNKER MINI

  • Page 2 You can contact us at support@agilex.ai if you have any questions about usage. It is very important that all assembly instructions and guidelines in other chapters of this manual are followed and implemented.

  • Page 3: Safety Information

    4.Operation  Ensure that the surrounding area is relatively  The maximum load of BUNKER MINI is 35KG. empty during operation. When in use, make sure the payload does not  Remote control within sight distance.

  • Page 4: Maintenance

     Please charge in time when the device voltage meets protection class requirements is lower than 24V. according to its IP protection class.  When the equipment is abnormal, please stop  Do not push the vehicle directly. using it immediately to avoid secondary ...
  • Page 5 目录 1 Introduction of BUNKER MINI 3.5 BUNKER MINI ROS Package 1.1 Product List Usage Example 1.2 Performance parameters 1.3 Required for development 4 Attention 4.1 Battery precautions 2 The Basics 4.2 Precautions for operational 2.1 Electrical interface description environment 2.2 Remote control instructions...
  • Page 7 Communication interface 1.3 Required for development BUNKER MINI is equipped with FS remote control from the factory, through which users can control the chassis of the BUNKER MINI mobile robot to complete the movement and rotation operations. Besides, BUNKER MINI is equipped with a CAN interface, through which users can conduct secondary...

  • Page 8: Electrical Interface Description

    2 The Basics This part will give a basic introduction to the BUNKER MINI mobile robot chassis, so that users and developers can have a basic understanding of BUNKER MINI chassis. 2.1 Electrical interface description The rear electrical interface is shown in Figure 2.1, in which Q1 is the emergency stop switch, Q2 is the power switch, Q3 is the power display interaction, Q4 is the charging interface, and Q5 is the CAN and 24V power aviation interface.
  • Page 9 Figure 2.4 Schematic diagram of the vehicle body reference frame As shown in 2.4, the BUNKER MINI body is parallel to the X-axis of the established reference frame. In the remote control mode, the remote control joystick S1 moves in the positive direction of X when pushed forward, and moves in the negative direction of X when pushed backward.

  • Page 10: Getting Started

    3 Getting Started This part mainly introduces the basic operation and use of the BUNKER MINI platform, and introduces how to carry out the secondary development of the vehicle body through the external CAN port and the CAN bus protocol.
  • Page 11 CAN bus interface. Besides, BUNKER MINI will feedback the current motion state information and the state information of the BUNKER MINI chassis in real time, etc. The protocol includes a system state feedback frame, a motion control feedback frame, and a control frame.
  • Page 12 The motion control feedback frame command includes the feedback of current vehicle body’s motion linear velocity and motion angular velocity. The specific content of the protocol is shown in Table 3.3. Table 3.3 Motion Control Feedback Frame Command name Motion control feedback command Sending Node Receiving Node Cycle（ms）...
  • Page 13 Note[1] Control mode description When the remote control for BUNKER MINI is not turned on, the default control mode is the standby mode, and you need to switch to the command mode to send the motion control command. If the remote control is turned on, it has the highest authority and can block the control of commands.
  • Page 14 In addition to the feedback of the chassis state information, the chassis feedback information also includes motor data and sensor data Table 3.7 Feedback of motor speed current position information Command name Motor driver high-speed information feedback frame Sending node Receiving node Cycle（ms）...
  • Page 15 Table 3.9 Actuator sate Fault information description bit [0] Whether the power supply voltage is too low (0: normal 1: too low) bit [1] Whether the motor is over-temperature (0: normal 1: over-temperature) bit [2] Whether the motor is over-current (0: normal 1: over-current) bit [3] Whether the drive is over-temperature (0: normal 1: over-temperature) byte [5]...
  • Page 16 SWB mode selection button of the FS Figure 3.2 Schematic diagram of remote control to the top, then the BUNKER MINI aviation plug male chassis will accept the command from the CAN...
  • Page 17  Ensure that the robot chassis power is off before In order to facilitate users to upgrade the firmware connection; version of BUNKER MINI and bring to customers  Use the Serial to connect to the BUNKER MINI more perfect experience,...
  • Page 18 Hardware connection and preparation  Pull out the CAN line of the BUNKER MINI 4-core aviation or rear plug, and connect the CAN_H and CAN_L in the CAN line to the CAN_TO_USB adapter respectively;  Turn on the chassis knob switch of the BUNKER MINI mobile robot, and check whether the emergency stop switches on both sides are released;...
  • Page 19 AGILEX BUNKER ROS PACKAGE ROS Installation and Environment Setup Download and compile  For installation details, please refer  Download ros dependencies http://wiki.ros.org/kinetic/Installa- tion/Ubuntu $ sudo apt install Test CANABLE hardware and CAN ros-$ROS_DISTRO-teleop-twist-key- board communication $ sudo apt install libasio-dev ...

  • Page 20: Battery Precautions

    4 Attention This part contains some points that should be paid attention to when using and developing BUNKER MINI. 4.2 Precautions for operational 4.1 Battery precautions environment  The battery of the BUNKER MINI product is not  The working temperature of BUNKER MINI is fully charged when it leaves the factory.
  • Page 21 A: Under normal circumstances, if BUNKER MINI can be controlled by the remote control, it means that the chassis motion control is normal, and it can receive the feedback frame of the chassis, which means that the CAN extension link is normal.

  • Page 22: Product Dimensions

    6 Product Dimensions 6.1 Illustrations of product outline dimensions...
  • Page 23 6.2 Illustrations of top expansion bracket dimensions...
  • Page 24 Official distributor WORLDWIDE david.denis@generationrobots.com +33 5 56 39 37 05 www.generationrobots.com...

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