Pioneer 2TM, 3TM manual Introduction, Robot Package, Basic Components all shipments

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Figure 1. Pioneer Mobile Robots first appeared commercially in 1995.

ActivMedia Robotics

Chapter 1 Introduction

Congratulations on your purchase and welcome to the rapidly growing community of developers and enthusiasts of ActivMedia Robotics’ intelligent mobile robots.

This Pioneer 3 & Pioneer 2 H8-Series Operations Manual provides both the general and technical details you need to

operate your new Pioneer 3-DX or –AT, or Pioneer 2-DX8/DX8 Plus and –AT8/AT8 Plus mobile robot, and to begin developing your own robotics hardware and software.

For operation of previous versions of Pioneer 2 which use the Siemens C166-based microcontroller, original motor-power boards, and support systems, please consult the Pioneer 2 Operations Manual available through sales@activmedia.com or at our support website: http://robots. activmedia.com.

ROBOT PACKAGE

Our experienced manufacturing staff put your mobile robot and accessories through a “burn in” period and carefully tested them before shipping the products to you. In addition to the companion resources listed above, we warranty your ActivMedia robot and our manufactured accessories against mechanical, electronic, and labor defects for one year. Third-party accessories are warranted by their manufacturers, typically for 90 days.

Even though we’ve made every effort to make your ActivMedia Robotics package complete, please check the components carefully after you unpack them from the shipping crate.

Basic Components (all shipments)

One fully assembled mobile robot with battery

CD-ROM containing licensed copies of ActivMedia software and documentation Hex wrenches and assorted replacement screws

Replacement fuse Set of manuals

Registration and Account Sheet

Optional Components and Attachments (partial list)

Battery charger (some contain power receptacle and 220VAC adapters) Automated dock and recharge station

Onboard PC computer and accessories Radio Ethernet

Supplementary and replacement batteries 3-Battery Charge Station (110/220 VAC) Added sonar arrays

2-DOF Gripper

5-DOF P2 Arm with gripper

ActivMedia Color Tracking System (ACTS) Stereo Vision Systems

Pan-Tilt-Zoom Surveillance Cameras Custom Vision System Range-finding laser

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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 and Systems on Manual Operation Robot Power OFFDOCKING/CHARGING System Client-server connection options Radio Controls and AccessoriesComputer Control Panel Onboard PCPC Networking Operating the Onboard PCUPS and Genpowerd Safety Aros Watchdogs Install Aria Preparative AssemblyQuick Start Drive Self-Test Install BatteriesClient-Server Communications Starting UP Client and ServerIpthru Demo Startup OptionsOperating the Aria Demonstration Client Successful ConnectionQuickstart Troubleshooting DisconnectingProper 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 PacketsSerial Port Communications CONFIGpac and Config CommandChanging Baud Rates and Autobauding Encoder Packets HOST-to-AUX Serial TransfersGripper 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 ArosInteractive Commands Configuring Aros Operating ParametersChanging Parameters PID Parameters Save Your WorkKeyword 0056 0057 0060 0034 Ticksmm and RevcountBumpers Stallval and StallcountUpdating and Reconfiguring Aros Batteries Maintenance & RepairTire Inflation Drive LubricationAutomated Docking/Charging System Alternative Battery ChargersTightening 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 OD7Motors, 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 Radio, Auxiliary, and User Power Connectors Controller Power and InterfaceGND IR Signal and PowerAppendix C Radio Modem SettingsConsole mode Serial Ethernet SettingsAppendix D Peer-to-Peer Networking WebpageAppendix E SpecificationsControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603