Pioneer 3TM, 2TM manual Table of Contents

Page 4

Table of Contents
CHAPTER 1 INTRODUCTION	1
ROBOT PACKAGE	1
Basic Components (all shipments)	1
Optional Components and Attachments (partial list)	1
User-Supplied Components / System Requirements	2
ADDITIONAL RESOURCES	2
Support Website	2
Newsgroups	2
Support	3
CHAPTER 2 WHAT IS PIONEER?	4
PIONEER REFERENCE PLATFORM	4
PIONEER FAMILY OF MICROCONTROLLERS AND OPERATING SYSTEM SOFTWARE	4
HITACHI H8S-BASEDMICROCONTROLLER	5
PLUS MOTOR-POWERBOARD	5
CLIENT SOFTWARE	6
ARIA	6
Saphira	7
Laser Navigation and Localization	7
SUPPORTING SOFTWARE	7
Simulator	7
Mapper	7
THE PIONEER LEGACY	7
Pioneer 1 and AT	8
Pioneer 2 and PeopleBot	8
New Pioneer 3 and Recent Pioneer 2-DX8,-AT8, and Plus Mobile Robots	9
MODES OF OPERATION	10
Server Mode	10
Maintenance and Standalone Modes	10
Joydrive and Self Test Modes	10
CHAPTER 3 SPECIFICATIONS & CONTROLS	11
PHYSICAL CHARACTERISTICS	11
MAIN COMPONENTS	12
Motor Stop Button	12
User Control Panel	13
Body, Nose, and Accessory Panels	14
Sonar Arrays with Gain Adjustment	14
Motors, Wheels, and Position Encoders	15
BATTERIES AND POWER	15
Battery Indicators and Low Voltage Conditions	16
Recharging	16
DOCKING/CHARGING SYSTEM	17
Manual Operation (Robot Power OFF)	17
Manual Operation (Robot Power and Systems ON)	17
RADIO CONTROLS AND ACCESSORIES	18
ONBOARD PC	19
Computer Control Panel	19
Operating the Onboard PC	20
PC Networking	20
UPS and Genpower	21
SAFETY AROS WATCHDOGS	22
CHAPTER 4 QUICK START	23
PREPARATIVE ASSEMBLY	23
Install ARIA	23
Install Batteries	24
Client-Server Communications	24

iv

Image 4

Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Introduction Robot PackageBasic Components all shipments Optional Components and Attachments partial listUser-Supplied Components / System Requirements Additional ResourcesSupport Website NewsgroupsSupport Support@activmedia.comWhat Is Pioneer? Pioneer Reference PlatformPlus MOTOR-POWER Board Hitachi H8S-BASED MicrocontrollerClient Software Http//robots.activmedia.comSupporting Software Pioneer LegacyPioneer 1 and AT Pioneer 2 and PeopleBotActivMedia Robotics Server Mode Maintenance and Standalone ModesModes of Operation Joydrive and Self Test ModesSpecifications & Controls Physical CharacteristicsMain Components Motor Stop ButtonUser Control Panel P3-DX User Control PanelBody, Nose, and Accessory Panels Sonar Arrays with Gain AdjustmentBatteries and Power Motors, Wheels, and Position EncodersBattery Indicators and Low Voltage Conditions RechargingManual Operation Robot Power and Systems on Manual Operation Robot Power OFFDOCKING/CHARGING System Radio Controls and Accessories Client-server connection optionsOnboard PC Computer Control PanelOperating the Onboard PC PC NetworkingUPS and Genpowerd Safety Aros Watchdogs Install Aria Preparative AssemblyQuick Start Install Batteries Client-Server CommunicationsStarting UP Client and Server Drive Self-TestDemo Startup Options IpthruSuccessful Connection Operating the Aria Demonstration ClientQuickstart Troubleshooting DisconnectingProper Connections OFF SRIsimJoydrive Mode Joydrive and Self-TestsEngaging SELF-TESTS ActivMedia Robotics Operating System CLIENT-SERVER Communication Packet ProtocolsPacket Errors Packet ChecksumServer Information Packets Multiply by DistConvFactor‡Client Commands Before Client ConnectionP2OS CLIENT-SERVER Connection Autoconfiguration SYNC2 Opening the Servers-OPENKeeping the Beat-PULSE Closing the Connection-CLOSEMotion Commands RotationActivMedia Robots in Motion Platform Dependent and Independent VariablesPID Controls Internal coordinate systemEnable/Disabling Sonar Position IntegrationSonar Polling Sequence and RateStalls and Emergencies 11-15 ReservedAccessory Commands and Packets Packet ProcessingSerial Port Communications CONFIGpac and Config CommandChanging Baud Rates and Autobauding Encoder Packets HOST-to-AUX Serial TransfersGripper packets Sounds TCM2Onboard PC Heading Correction GyroInput Output I/O User I/OBumper and IR I/O IO packetsExpansion I/O DOCKING/CHARGING System I/ODigital Port Controls Docking/Charging ServersMonitoring the Recharge Cycle Charge State Overcharge ~Volts Charge current ID7ActivMedia Robotics Operating System Updating & Reconfiguring Aros Where to GET Aros SoftwareAros Maintenance Mode Simple Aros UpdatesUpdating and Reconfiguring Aros Starting AroscfInteractive Commands Configuring Aros Operating ParametersChanging Parameters Save Your Work PID ParametersKeyword Ticksmm and Revcount 0056 0057 0060 0034Stallval and Stallcount BumpersUpdating and Reconfiguring Aros Maintenance & Repair Tire InflationDrive Lubrication BatteriesAutomated Docking/Charging System Alternative Battery ChargersTightening the AT Drive Belt Getting Inside Removing the NoseOpening the Deck Factory RepairsPower Connector Appendix aH8S Ports & Connections H8S MicrocontrollerSerial Ports User I/O, Gripper, Docking/Charging PortOD7 Expansion I/O BusMotors, Encoders, and IR Sensors Bumper PortsUser Control Interface Joystick Port Configuration for Current and Temperature Sensing Pioneer 3 and 2-PLUS MOTOR-POWER BoardAppendix B Controller Power and Interface Radio, Auxiliary, and User Power ConnectorsIR Signal and Power GNDRadio Modem Settings Appendix CConsole mode Serial Ethernet SettingsAppendix D Webpage Peer-to-Peer NetworkingSpecifications Appendix EControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603