Pioneer 2TM, 3TM manual Disconnecting, Quickstart Troubleshooting, Proper Connections

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ActivMedia Robotics

as a demonstration tool, but as a diagnostic one, as well, if you suspect a sensor or effector has failed or is working poorly.

Access each ARIA demo mode by pressing its related hot-key;‘t’, for instance, to select teleoperation. Each mode includes onscreen instructions and may have sub-menus for operating of the respective device.

DISCONNECTING

When you finish, press the Esc key to disconnect the ARIA client from your robot server and exit the ARIA demonstration program. Your ActivMedia robot should disengage its drive motors and stop moving, and its sonar should stop firing. You may now slide the robot’s Main Power switch to OFF.

QUICKSTART TROUBLESHOOTING

Most problems occur when attempting to connect the ARIA client with a robot for the first time. The process can be daunting if you don’t make the right connections and installations.

ATTENTION!

The ARIA-to-robot connection is SERIAL only. Accordingly, run the ARIA demo client with the onboard or piggyback computer, over radio modems, or over the network with the radio Ethernet-to-serial device.

Proper Connections

Make sure you have ARIA properly installed and that your robot and connections are correct. A common mistake with Linux is not having the proper permissions on the connecting serial port.

Make sure your robot’s batteries are fully charged (battery LED green). The robot servers shut down and won’t allow a connection at under 10.5 volts.

If you are using the onboard PC or radios, the serial connection is internal and established at the factory; you should not have problems with those cables. Simply make sure the RADIO switch is ON, for example. And remove any serial cable that is plugged into the User Control Panel as it may interfere with internal serial communication.

With other serial connections, make sure to use the proper cable: a “pass-through” one, minimally connecting pins 2, 3, and 5 of your PC’s serial port to the HOST radio modem of the pair or to the robot’s serial port on the User Control Panel.

If you access the wrong serial port, the ARIA demonstration program will display an error message. If the robot server isn't listening, or if the serial link is severed somewhere between the client and server (cable loose or the radio is off, for instance), the client will attempt "Syncing 0" several times and fail. In that case, RESET the robot and check your serial connections. For instance, if you are using radio modems, the DCD lamp on the HOST unit next to your PC should light up. If it doesn't, it means it cannot find the one in the robot.

If for some reason communications get severed between the ARIA client and AROS server, but both the client and server remain active, you may revive the connection with little effort: If you are using radio modems, first check and see if the robot is out of range.

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Robot Package IntroductionBasic Components all shipments Optional Components and Attachments partial listAdditional Resources User-Supplied Components / System RequirementsSupport Website NewsgroupsSupport@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 Maintenance and Standalone Modes Server ModeModes of Operation Joydrive and Self Test ModesPhysical 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 Client-Server Communications Install BatteriesStarting UP Client and Server Drive Self-TestIpthru 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 Opening the Servers-OPEN Autoconfiguration SYNC2Keeping the Beat-PULSE Closing the Connection-CLOSERotation Motion CommandsPlatform Dependent and Independent Variables ActivMedia Robots in MotionInternal coordinate system PID ControlsPosition Integration Enable/Disabling SonarSonar Polling Sequence and Rate11-15 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 System I/O Expansion I/ODigital Port Controls Docking/Charging ServersCharge State Overcharge ~Volts Charge current ID7 Monitoring the Recharge CycleActivMedia Robotics Operating System Where to GET Aros Software Updating & Reconfiguring ArosAros Maintenance Mode Simple Aros UpdatesStarting 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 Tire Inflation Maintenance & RepairDrive Lubrication BatteriesAlternative Battery Chargers Automated Docking/Charging SystemTightening the AT Drive Belt Removing the Nose Getting InsideFactory Repairs Opening the DeckAppendix a Power ConnectorH8S Ports & Connections H8S MicrocontrollerUser 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