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Summary of Contents for AgileX TRACER MINI
- Page 1 TRACER MINI AgileX Robotics Team User Manual V1.0.0 2022.05.18...
- 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 It is the responsibility of TRACER MINI's integrators and end customers to ensure compliance with relevant specifications and effective laws and regulations, so as to ensure that there are no major hazards in the complete robot application example.
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Page 4: Table Of Contents
1 Introduction of TRACER MIN 3.3.3 Realization of CAN command control 1.1 Product list 3.4 Firmware upgrade 1.2 Performance parameters 3.5 TRACER MINI ROS Package usage example 1.3 Required for development 2 The Basics 4 Attention 2.1 Status indication 4.1 Battery precautions 2.2 Electrical interface descriptio... -
Page 5: Introduction Of Tracer Min
Communication interface 1.3 Required for development The TRACER MINI can be equipped with a remote control when it leaves the factory. The user can control the TRACER mobile robot chassis through the remote control to complete the movement and rotation operations. -
Page 6: The Basics
2 The Basics This part will give a basic introduction to the TRACER MINI mobile robot chassis, so that users and developers can have a basic understanding of the TRACER chassis. Figures 2.1 and 2.2 as shown below are overview diagrams of the entire mobile robot chassis. -
Page 7: Status Indication
When it is detected that the battery voltage is lower than 21.5V, in Low voltage alarm order to prevent battery damage, TRACER MINI will actively cut off the external extended power supply and actuator power supply. At this time, the chassis will be unable to perform motion control and accept external command control. -
Page 8: Remote Control Instructions
FS remote control is an optional accessory for TRACER MINI products. Customers can choose according to actual needs, and can easily control the chassis of the TRACER MINI universal robot by using the remote control. In this product, we adopt the design of the left-hand accelerator. See Figure 2.6 for its definition and functions. -
Page 9: Control Command And Motion Description
Figure 2.7 Schematic diagram of the vehicle body reference frame As shown in 2.7, the TRACER 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
After the TRACER MINI robot chassis is started normally, turn on the remote control and select the control mode as the remote control mode, so that the motion of TRACER MINI platform can be controlled by the remote control. - Page 11 Table 3.1 TRACER MINI Chassis State Feedback Frame Command name System state feedback command Sending node Receiving Node Cycle（ms） Receiving Timeout (ms) Wire-controlled Decision control unit 0x211 20ms None chassis Data length 0x08 Location Function Data type Description 0x00 System normal...
- Page 12 Table 3.3 Motion Control Feedback Frame Command name Motion control feedback command Sending Node Receiving Node Cycle（ms） Receiving Timeout (ms) Wire-controlled 无 Decision control unit 0x221 20ms chassis Data length 0x08 Location Function Data Type Description The upper eight bits of the movement byte [0] speed...
- Page 13 The light control feedback frame command contains the feedback of the current front light state, as shown in Table 3.5. Table 3.5 Light Control Command Frame Command Name Light Control Frame Sending node Receiving node Receiving Timeout (ms) Cycle（ms） Decision control Chassis node 0x121 25ms...
- Page 14 The control mode frame package is used to set the control mode of the chassis, as shown in Table 3-7 Table 3.7 Control mode setting frame description table Command Control mode setting command name Sending node Receiving node Cycle（ms） Receiving Timeout (ms) Wire-controlled Decision control unit 0x421...
- Page 15 In addition to the feedback of the state information, the feedback information of the chassis also includes motor information. The following frame feedback is the motor information feedback: in the chassis, the corresponding motor numbers of the two motors are as shown in the following figure: Figure 3.0 Motor Feedback ID Schematic Table Table 3.10 Motor high-speed information feedback frame Command...
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Page 16: Can Line Connection
Reserved 3.3.2 CAN line connection TRACER MINI provides an aviation plug male as shown in Figure 3.2. For the definition of the line, please refer to Table 3.2. 3.3.3 Realization of CAN command control Start the TRACER MINI mobile robot chassis normally, turn on... -
Page 17: Firmware Upgrade
TRACER MINI provides the hardware interface Use the Serial to connect to the TRACER MINI chassis to for firmware upgrade and the corresponding client software. upgrade the serial port, and connect it to the computer; Its client interface is shown in Figure 3.3. -
Page 18: Tracer Mini Ros Package Usage Example
AGILEXTRACER MINI top aviation receptacle Hardware connection and preparation Pull out the CAN line of the TRACER MINI rear aviation 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 TRACER MINI mobile robot;... -
Page 19: Attention
Q: TRACER makes a "drip-drip-drip..." sound during operation, what should I do? A: If the TRACER MINI emits continuous "drip-drip-drip..." sound, it indicates that the battery is already in the alarm voltage state, please charge it in time; after the relevant sound appears, there may also be an internal related error, you can check the related error through the CAN bus code, or communicate with relevant technical personnel. -
Page 20: Illustrations Of Product Outline Dimensions
6 Product Dimensions 6.1 Illustrations of product outline dimensions... - Page 21 Songling Robot (Dongguan) Co., Ltd. WWW.AGILEX.AI TEL:+86-769-22892150 MOBILE：+86-19925374409...
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