ActivMedia Robotics 3TM Manuals

Manuals and User Guides for ActivMedia Robotics 3TM. We have 1 ActivMedia Robotics 3TM manual available for free PDF download: Operation Manual

ActivMedia Robotics 3TM Operation Manual

ActivMedia Robotics 3TM Operation Manual (85 pages)

H8-Series

Brand: ActivMedia Robotics | Category: Robotics | Size: 3 MB

Table of Contents

Table of Contents
4
Chapter 1 Introduction

7
- Robot Package
  7
- 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
- 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
- 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
- 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
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
Appendix A

71
- H8S Ports & Connections
  71
- H8S Microcontroller
  71
  - Power Connector
    71
  - Pin Description
    71
Appendix A: Ports and Connections

72
- 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
Appendix B Pioneer 3 and 2-Plus Motor -Power Board

76
Appendix B: Motor-Power Board Connectors

76
Appendix C

79
- Radio Modem Settings
  79
Appendix D

80
- Serial Ethernet Settings
  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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