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AgileX RANGER MINI 3.0 User Manual

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RANGER MINI 3.0 User Manual
RANGER MINI 3.0
AgileX Robotics Team
USER MANUAL   V.1.0.0 2024.06
Document version
No.
Version
Date
Edited by
Reviewer
Notes
1
V1.0.0
2024/6/25
Cynthia
First version
Before using the robot, any individual or organization must read and understand the manual. If you have any questions
about it, please do not hesitate to contact us at support@agilex.ai. It is very important that you should follow and
implement all instructions and guidelines in this manual. Please pay extra attention to the warnings.
1 / 4 1

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Summary of Contents for AgileX RANGER MINI 3.0

  • Page 1 Before using the robot, any individual or organization must read and understand the manual. If you have any questions about it, please do not hesitate to contact us at support@agilex.ai. It is very important that you should follow and implement all instructions and guidelines in this manual. Please pay extra attention to the warnings.

  • Page 2: Important Safety Information

    Any users of the RANGER MINI 3.0 should comply with laws and regulations of relevant countries and ensure that there are no obvious hazards in the application of the RANGER MINI 3.0. This includes but is not limited to the following: Effectiveness and responsibility ●...

  • Page 3: Usage Environment

    ● When the RANGER MINI 3.0 is abnormal, please contact the technical support immediately, and do not handle it without professional suggestion. ● Please use the RANGER MINI 3.0 in an environment that does not exceed its IP protection level. ● Do not push the RANGER MINI 3.0 directly.

  • Page 4: Table Of Contents

    4 Product Size 1 Introduction to the RANGER MINI 3.0 The RANGER MINI 3.0 is a programmable omnidirectional UGV (UNMANNED GROUND VEHICLE), which is a chassis with a modular design. Compared with the four-wheel differential chassis, the RANGER MINI 3.0 has obvious advantages when running on ordinary cement roads and asphalt roads. It not only has higher speed and load capacity, but also reduces the wear and tear on the structure and tires.

  • Page 5: Specifications

    Name Quantity RANGER MINI 3 body ×1 Battery charger (AC 220V) ×1 Aviation plug male (4Pin) ×1 FS remote controller (optional) ×1 USB to CAN communication module ×1 1.2 Specifications Type Items Parameters Dimensions (mm) 720×500×345 Axle Track (mm) Front/rear track (mm) Total weight (Kg) Battery type Lithium iron phosphate...

  • Page 6: Required For Development

    Communication Interface 1.3 Required for Development The RANGER MINI 3.0 can be equipped with FS remote control when buying. Users can use it to control the 4WD chassis, complete mode switching, movement and steering. The RANGER MINI 3.0 has a standard CAN (Controller Area Network) communication interface to facilitate secondary development.
  • Page 7 Figure 2.1 Overview of the RANGER MINI 3.0 The RANGER MINI 3.0 is based on a modular and intelligent design concept. It adopts a composite design of solid tires and swing arms on the power module, and has a powerful hub motor, which makes the RANGER MINI 3.0 swift passing ability and ground adaptability.

  • Page 8: Status Of The Ranger Mini

    Figure 2.2 Gravity center of RANGER MINI 3.0 2.1 Status of the RANGER MINI 3.0 The user can check the status of the RANGER MINI 3.0 through its CAN message. Please refer to Table 2.1 for specific status. Status Description The current battery voltage and powercan be viewed through vol and batt on the remote Current Voltage controller.

  • Page 9: Description Of Electrical Interfaces

    Figure 2.2 Back View of the RANGER MINI 3.0  The RANGER MINI 3.0 has a circular connector for expansion at its rear. The interface can be used to provide power for external equipment (the load current cannot exceed 15 A, and the voltage range is 46~50 V) and transfer information through its CAN communication interface.

  • Page 10: Remote Control Instructions

    Positive terminal. The voltage range is 46~50 V Power supply The load current cannot exceed 15 A. Power supply Negative terminal CAN_H CAN H (High) CAN_L CAN L (Low) Figure 2.3 Pin descriptions of the circular connector  2.3 Remote Control Instructions Figure 2.4 Introduction of the remote control As shown in the figure above, the functions of the buttons are defined as follows: SWB is the control mode, switch to the top is the command control mode, dialed to the middle or down is the remote control mode;...

  • Page 11: Usage And Development

    3 Usage and Development This part mainly introduces the basic operation and usage of the RANGER MINI 3.0, and how to carry out secondary development through the external CAN interface and the CAN bus protocol.
  • Page 12 Check Check the RANGER MINI 3.0 status Check whether there is any obvious abnormality in the RANGER MINI 3.0; if so, please contact after-sales support; When using it for the first time, check whether the e-stop switch(Q2) in the rear electrical panel is pressed, if pressed, please release it.

  • Page 13: Battery Replacement

    Battery replacement RANGERMINI is equipped with a 48v24ah battery. During operation, when the battery power is too low, we can open the battery panel on the right side to quickly replace the battery. 1 3 / 4 1...
  • Page 14 Start the RANGER MINI 3.0normally, turn on the remote control, and then switch the SWB to the command control mode (move SWB to the top). At this time, the RANGER MINI 3.0 will accept commands from the CAN bus, and the host can also analyze the status of the RANGER MINI 3.0 using the feedbacked real-time data through the CAN bus.

  • Page 15: Can Communication Protocol

    MOTOROLA format. Through the external CAN interface, users can switch the control model and control the linear speed and steering angle of the RANGER. The RANGER MINI 3.0 will real-time feedback the current movement status information (including the integrated movement information of the vehicle and the detailed movement information of each wheel) and the system status information (including self-diagnostic error codes).
  • Page 16 Highest order byte of byte [4] error message High order byte of unsigned int32 Refer to the error message table for details byte [5] error message Low order byte of byte [6] error message Lowest order byte of byte [7] error message Table 1 Error message table Error message  Byte  Bit...
  • Page 17 Right rear steering zero bit [1] point calibration status (0: unfaulty; 1: faulty) Left rear steering zero bit [2] point calibration status (0: unfaulty; 1: faulty) Left front steering zero bit [3] point calibration status (0: unfaulty; 1: faulty) Steering calibration timeout (0: bit [4] unfaulty;...
  • Page 18 Remote control lost connection bit [2] protection status (0: normal; 1: triggered) No. 1 motor driver communication bit [3] status (0: unfaulty; 1: faulty) No. 2 motor driver communication bit [4] status (0: unfaulty; 1: faulty) No. 3 motor driver communication bit [5] status (0: unfaulty;...
  • Page 19 byte [4] Reserved 0X00 byte [5] Reserved 0X00 High order byte of byte [6] steering angle Actual steering angle X 1000 (the unit is signed int16 0.001 rad) byte [7] Low order byte of steering angle The motion control frame includes the linear speed control command and the steering angle control command. The details of the protocol are as follows: Command                                          ...
  • Page 20 Left turn direction is positive As shown in Figure 3.2.1, when the RANGER MINI 3.0 is in front and rear Ackerman mode, the feedback steering angle is (α+β)/2, left steering is negative, and right steering is positive; the feedback speed is the average value of the four wheels speed (that is, the linear speed of the chassis), reversing is negative, and moving forward is positive.
  • Page 21 Figure 3.2.2 Wheels control of the RANGER MINI 3.0 in oblique motion mode When the chassis is in the spin mode, the steering angle is a constant value , which cannot be changed. At this time, the feedback steering angle is the average value of the absolute values of α1, α2, α3, and α4. The spinning speed of the chassis can be changed by commands, and counterclockwise spinning is positive.
  • Page 22 Control mode description: when the chassis is powered on and the remote control is not connected, the control mode is standby mode. At this time, the chassis only receives control mode commands and does not respond to other commands. To control the chassis using CAN, you need to switch control mode to CAN command control mode first. If the remote control is turned on, the remote control has the highest priority, which can block the control command and switch the control mode.
  • Page 23 Byte Meaning Data type Note 0x00 Clear all non-critical faults 0x01~0x08 Clear the communication faults of No. 1~8 motor drivers respectively 0x09 Clear the battery undervoltage fault and try to restore the power supply Error clearing byte [0] unsigned int8 command 0x0a Clear remote control signal loss fault 0x0b~0x0e Clear the steering calibration fault...
  • Page 24 Decision-making and Drive-by-wire chassis 0x251~0x258  20ms  None control unit Data length 0x08 Byte Meaning Data type Note High order byte [0] byte of motor speed The current speed of the motor, whose unit is signed int16 RPM (Revolutions Per Minute) byte [1] Low order byte of motor speed High order...
  • Page 25 High order byte of byte [0] driver voltage unsigned int16 The current driver voltage, whose unit is 0.1 V Low order byte of byte [1] driver voltage High order byte of byte [2] drive temperature signed int16 The unit is 1 ℃. Low order byte of byte [3] driver temperature The unit is 1 ℃.
  • Page 26 Node for sending Node for receiving Period Receive timeout (ms) Decision-making and Drive-by-wire chassis 0x271 20ms None control unit Data length 0x08 Byte Meaning Data type Note High order byte of steering byte [0] angle of No. 5 motor The Current steering angle, whose unit signed int16 is 0.001 rad byte [1]...
  • Page 27 Rotational speed feedback of four wheels Command                               Information feedback frame of four wheels   rotational speed ’ Node for sending Node for receiving Period Receive timeout (ms) Decision-making and Drive-by-wire chassis 0x281 20ms None control unit Data length 0x08 Byte Meaning Data type Note...
  • Page 28 Low order byte of rotational speed of No. 4 motor The motion mode switching command is used to change motion model of the chassis, and the details of the protocol are as follows Command                                         Current motion mode feedback command Node for sending Node for receiving Period Receive timeout (ms) Decision-making and Drive-by-wire chassis...
  • Page 29 Command                                       Control command Node for sending Node for receiving Period Receive timeout (ms) Decision-making and Node for the chassis 0x141 None None control unit Data length 0x01 Byte Meaning Data type Note 0x00 front and rear Ackerman mode (default) 0x01 oblique motion mode byte [0] Motion mode unsigned int8...
  • Page 30 byte [5] Reserved 0x00 byte [6] Reserved 0x00 byte [7] Reserved 0x00 The lighting control feedback frame is as follows: Command Light control feedback command Node for sending Node for receiving Period ms Receive timeout(ms) Node for the chassis Decision-making and 0x231 20ms control unit...
  • Page 31 Drive-by-wire Decision-making 0×311 20ms None chassis and control unit Data length 0×08 Byte Description Data type Note Highest order byte of front left wheel odometer Sub-high order byte of front left wheel byte [0] odometer byte [1] Chassis left wheel odometer feedback, signed int32 Second byte [2] Unit: mm...
  • Page 32 Drive-by-wire Decision-making 0×312 20ms None chassis and control unit Data length 0×08 Byte Description Data type Note Highest order byte of rear left wheel odometer Sub-high order byte of rear left wheel byte [0] odometer byte [1] Chassis left wheel odometer feedback, signed int32 Second byte [2] Unit: mm...
  • Page 33 Drive-by-wire Decision-making 0x241 20ms None chassis and control unit Data length 0x08 Byte Description Data type Note bit[0-1]: SWA:2- Up 3-Down bit[2-3]: SWB : 2-Up 1-Middle 3-Down Remote control SW byte [0] unsigned int8 feedback bit[4-5]: SWC : 2-Up 1-Middle 3-Down bit[6-7]: SWD 2-Up 3-Down Right joystick left byte [1]...
  • Page 34 Data length 0x08 Byte Meaning Data type Note Battery SOC State byte [0] unsigned int8 Range 0~100 of Charge Battery SOH (State byte [1] unsigned int8 Range 0~100 of Health) High order byte of byte [2] battery voltage unsigned int16 Unit: 0.01 V byte [3] Low order byte of battery voltage...

  • Page 35: Ranger Mini 3.0 Use Manual For Ros

    ● Hardware Connection and Preparation Pull out the CAN wires of the circular connector on the rear of RANGER MINI 3.0, and connect can_H and can_L wires of the CAN to the CAN_TO_USB adapter; power on the RANGER MINI 3.0; connect the CAN_TO_USB adapter to the USB port of the laptop.
  • Page 36 If the can-to-usb has been connected to the BUNKER robot this time, and the car has been turned on, use the following commands to monitor the data from the BUNKER chassis 复 candump can0 Please refer to: https://github.com/agilexrobotics/agx_sdk https://wi-ki.rdu.im/_pages/Notes/Embedded-System/Linux/-can-bus-in-linux.html AGILEX RANGER ROS PACKAGE download and compile ● Download ros package 3 6 / 4 1...

  • Page 37: Firmware Upgrade

    复 sudo install libasio-dev sudo install ros-$ROS_DISTRO-teleop-twist-keyboard ● Clone compile hunter_ros code 复 $ cd ~/catkin_ws/src clone --recursive https://github.com/agilexrobotics/ugv_sdk.git $ git clone https://github.com/agilexrobotics/ranger_ros.git $ cd .. $ catkin_make Please refer to https://github.com/agilexrobotics/ranger_ros Start the ROS node ● Start the based node 复 roslaunch ranger_bringup ranger_minimal.launch Note that the usb_to_can module equipped with Songling needs to be enabled before starting.

  • Page 38: Upgrade Preparation

    Upgrade Preparation ● Agilex CAN debugging module  X 1 ● Micro USB cable  X 1 ● RANGERMINI 3.0 chassis  X 1 ● A computer (WINDOWS OS (Operating System))  X 1 Upgrade Process 1.Plug in the USBTOCAN module on the computer, and then open the AgxCandoUpgradeToolV1.3_boxed.exe software (the sequence cannot be wrong, first open the software and then plug in the module, the device will not be recognized).
  • Page 39 4.Click the node to be upgraded in the node list box, and then click Start Upgrade Firmware to start upgrading the firmware. After the upgrade is successful, a pop-up box will prompt. 3 9 / 4 1...

  • Page 40: 4 Product Size

    4 Product Size 4 0 / 4 1...
  • Page 41 4 1 / 4 1...

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