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ActivMedia Robotics 2TM manual available for free PDF download: Operation Manual
ActivMedia Robotics 2TM Operation Manual (85 pages)
H8-Series
Brand:
ActivMedia Robotics
| Category:
Robotics
| Size: 3.56 MB
Table of Contents
Table of Contents
4
Chapter 1 Introduction
7
Robot Package
7
Basic Components (All Shipments)
7
Optional Components and Attachments (Partial List)
7
User-Supplied Components / System Requirements
8
Additional Resources
8
Support Website
8
Newsgroups
8
Support
9
Chapter 2 What Is Pioneer
10
Pioneer Reference Platform
10
Pioneer Family of Microcontrollers and Operating System Software
10
Hitachi H8S- Based Microcontroller
11
Plus Motor -Power Board
11
Client Software
12
Aria
12
Saphira
13
Laser Navigation and Localization
13
Supporting Software
13
Simulator
13
Mapper
13
The Pioneer Legacy
13
Pioneer 1 and at
14
Pioneer 2 and Peoplebot
14
New Pioneer 3 and Recent Pioneer 2-DX8, -AT8, and Plus Mobile Robots
15
Modes of Operation
16
Server Mode
16
Maintenance and Standalone Modes
16
Joydrive and Self Test Modes
16
Chapter 3 Specifications & Controls
17
Physical Characteristics
17
Main Components
18
Motor Stop Button
18
User Control Panel
19
Body, Nose, and Accessory Panels
20
Sonar Arrays with Gain Adjustment
20
Motors, Wheels, and Position Encoders
21
Batteries and Power
21
Battery Indicators and Low Voltage Conditions
22
Recharging
22
Docking /Charging System
23
Manual Operation (Robot Power OFF)
23
Manual Operation (Robot Power and Systems ON)
23
Radio Controls and Accessories
24
Onboard Pc
25
Computer Control Panel
25
Operating the Onboard PC
26
PC Networking
26
UPS and Genpower
27
Safety Aros Watchdogs
28
Chapter 4 Quick Start
29
Preparative Assembly
29
Install ARIA
29
Install Batteries
30
Client-Server Communications
30
Starting U P Client and Server
30
Drive Self-Test
30
Client Server Connection
30
Demo Startup Options
31
A Successful Connection
32
Operating the Aria Demonstration Client
32
Disconnecting
33
Quickstart Troubleshooting
33
Proper Connections
33
Srisim
34
Chapter 5 Joydrive and Self-Tests
35
Joydrive Mode
35
Engaging Self -Tests
36
Chapter 6 Activmedia Robotics Operating System
37
Client -Server Communication Packet Protocols
37
Packet Checksum
38
Packet Errors
38
Server Information Packets
39
Client Commands
40
The Client -Server Connection
42
Autoconfiguration (SYNC2)
43
Opening the Servers-OPEN
43
Keeping the Beat-PULSE
43
Closing the Connection-CLOSE
43
Motion Commands
44
Activmedia Robots in Motion
45
Platform Dependent and Independent Variables
45
PID Controls
46
Position Integration
47
Sonar
47
Enable/Disabling Sonar
47
Polling Sequence and Rate
47
Stalls and Emergencies
48
Accessory Commands and Packets
49
Packet Processing
49
Configpac and CONFIG Command
50
Serial Port Communications
50
Changing Baud Rates and Autobauding
50
HOST-To-AUX Serial Transfers
51
Encoder Packets
51
Gripper Packets
51
Sounds
52
Tcm2
52
Onboard PC
53
Heading Correction Gyro
53
Input Output (I/O)
54
User I/O
54
Bumper and IR I/O
55
IO Packets
55
Expansion I/O
56
Docking /Charging System I/O
56
Digital Port Controls
56
Docking/Charging Servers
56
Monitoring the Recharge Cycle
57
Chapter 7 Updating & Reconfiguring Aros
59
Where to Get Aros Software
59
Aros Maintenance Mode
59
Simple Aros Updates
59
Aros Cf
60
Starting Aros Cf
60
Configuring Aros Operating Parameters
61
Interactive Commands
61
Changing Parameters
61
Save Your Work
62
Pid Parameters
62
Ticksmm and Revcount
64
Stall Val and Stall Count
65
Bumpers
65
Chapter 8 Maintenance & Repair
67
Tire Inflation
67
Drive Lubrication
67
Batteries
67
Changing Batteries
67
Hot-Swapping the Batteries
67
Charging the Batteries
67
Automated Docking/Charging System
68
Alternative Battery Chargers
68
Tightening the at Drive Belt
68
Getting Inside
69
Removing the Nose
69
Opening the Deck
70
Factory Repairs
70
H8S Ports & Connections
71
Appendix A
71
H8S Microcontroller
71
Power Connector
71
Serial Ports
72
User I/O, Gripper, Docking/Charging Port
72
The Expansion I/O Bus
73
Bumper Ports
74
Motors, Encoders, and IR Sensors
74
User Control Interface
74
Joystick Port
75
Pioneer 3 and 2-Plus Motor -Power Board
76
Appendix B
76
Configuration for Current and Temperature Sensing
76
Controller Power and Interface
77
Radio, Auxiliary, and User Power Connectors
77
IR Signal and Power
78
Legacy Motor -Power
78
Radio Modem Settings
79
Appendix C
79
Serial Ethernet Settings
80
Appendix D
80
Lan Ip Settings
80
Console Mode
80
Webpage
81
Peer-To-Peer Networking
81
Appendix E
82
Specifications
82
Warranty & Liabilities
84
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