Pioneer 2TM, 3TM manual Important Safety Instructions

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ActivMedia Robotics

Important Safety Instructions

Read the installation and operations instructions before using the equipment. Avoid using power extension cords.

To prevent fire or shock hazard, do not expose the equipment to rain or moisture. Refrain from opening the unit or any of its accessories.

Keep wheels away from long hair or fur.

Never access the interior of the robot with charger attached or batteries inserted.

Inappropriate Operation

Inappropriate operation voids your warranty! Inappropriate operation includes, but is not limited to:

Dropping the robot, running it off a ledge, or otherwise operating it in an irresponsible manner

Overloading the robot above its payload capacity Getting the robot wet

Continuing to run the robot after hair, yarn, string, or any other items have become wound around the robot’s axles or wheels

Opening the robot with charger attached and/or batteries inserted All other forms of inappropriate operation or care

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Optional Components and Attachments partial list IntroductionRobot Package Basic Components all shipmentsNewsgroups User-Supplied Components / System RequirementsAdditional Resources Support WebsiteSupport@activmedia.com SupportPioneer Reference Platform What Is Pioneer?Hitachi H8S-BASED Microcontroller Plus MOTOR-POWER BoardHttp//robots.activmedia.com Client SoftwarePioneer Legacy Supporting SoftwarePioneer 2 and PeopleBot Pioneer 1 and ATActivMedia Robotics Joydrive and Self Test Modes Server ModeMaintenance and Standalone Modes Modes of OperationPhysical Characteristics Specifications & ControlsMotor Stop Button Main ComponentsP3-DX User Control Panel User Control PanelSonar Arrays with Gain Adjustment Body, Nose, and Accessory PanelsMotors, Wheels, and Position Encoders Batteries and PowerRecharging Battery Indicators and Low Voltage ConditionsManual Operation Robot Power OFF Manual Operation Robot Power and Systems onDOCKING/CHARGING System Client-server connection options Radio Controls and AccessoriesComputer Control Panel Onboard PCPC Networking Operating the Onboard PCUPS and Genpowerd Safety Aros Watchdogs Preparative Assembly Install AriaQuick Start Drive Self-Test Install BatteriesClient-Server Communications Starting UP Client and ServerIpthru Demo Startup OptionsOperating the Aria Demonstration Client Successful ConnectionDisconnecting Quickstart TroubleshootingProper Connections SRIsim OFFJoydrive and Self-Tests Joydrive ModeEngaging SELF-TESTS CLIENT-SERVER Communication Packet Protocols ActivMedia Robotics Operating SystemPacket Checksum Packet ErrorsMultiply by DistConvFactor‡ Server Information PacketsBefore Client Connection Client CommandsP2OS CLIENT-SERVER Connection Closing the Connection-CLOSE Autoconfiguration SYNC2Opening the Servers-OPEN Keeping the Beat-PULSERotation Motion CommandsPlatform Dependent and Independent Variables ActivMedia Robots in MotionInternal coordinate system PID ControlsPolling Sequence and Rate Enable/Disabling SonarPosition Integration Sonar11-15 Reserved Stalls and EmergenciesPacket Processing Accessory Commands and PacketsCONFIGpac and Config Command Serial Port CommunicationsChanging Baud Rates and Autobauding HOST-to-AUX Serial Transfers Encoder PacketsGripper packets TCM2 SoundsHeading Correction Gyro Onboard PCUser I/O Input Output I/OIO packets Bumper and IR I/ODocking/Charging Servers Expansion I/ODOCKING/CHARGING System I/O Digital Port ControlsCharge State Overcharge ~Volts Charge current ID7 Monitoring the Recharge CycleActivMedia Robotics Operating System Simple Aros Updates Updating & Reconfiguring ArosWhere to GET Aros Software Aros Maintenance ModeStarting Aroscf Updating and Reconfiguring ArosConfiguring Aros Operating Parameters Interactive CommandsChanging Parameters PID Parameters Save Your WorkKeyword 0056 0057 0060 0034 Ticksmm and RevcountBumpers Stallval and StallcountUpdating and Reconfiguring Aros Batteries Maintenance & RepairTire Inflation Drive LubricationAlternative Battery Chargers Automated Docking/Charging SystemTightening the AT Drive Belt Removing the Nose Getting InsideFactory Repairs Opening the DeckH8S Microcontroller Power ConnectorAppendix a H8S Ports & ConnectionsUser I/O, Gripper, Docking/Charging Port Serial PortsExpansion I/O Bus OD7Bumper Ports Motors, Encoders, and IR SensorsUser Control Interface Joystick Port Pioneer 3 and 2-PLUS MOTOR-POWER Board Configuration for Current and Temperature SensingAppendix B Radio, Auxiliary, and User Power Connectors Controller Power and InterfaceGND IR Signal and PowerAppendix C Radio Modem SettingsSerial Ethernet Settings Console modeAppendix D Peer-to-Peer Networking WebpageAppendix E SpecificationsControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603