Pioneer 2 / PeopleBot manual

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Robot Package IntroductionBasic Components all shipments Optional Components and Attachments partial listUser-Supplied Components / System Requirements Additional ResourcesSoftware NewsgroupsSupport@activmedia.com SupportClient Software What Is Pioneer?ActivMedia Robotics Basic Suite Http//robots.activmedia.comSaphira AriaPioneer 2 and PeopleBot Pioneer LegacyPioneer Page Modes of Operation Main Components Specifications & ControlsPhysical Characteristics Pioneer 2-AT Console and hinged Deck Decks and ConsoleBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Motors and Position Encoders Batteries and PowerElectronics Controls, Ports, and Indicators Reset and Motors Liquid-Crystal Display & Contrast AdjustmentSerial PeopleBot Sensors and Emergency Stop Safety Watchdogs and ConfigurationPioneer 2 Arm-related SIPs and Commands Saphira Client Installation Preparative AssemblyQuick Start Http//robots.activmedia.comRobot Cold Start-Up Saphira Client Start-UpSET SAPHIRA=C\Saphira\ver62 Export DISPLAY=remotecomputer0Successful Connection Starting Client-Server CommunicationsConnected Operating the Saphira Demonstration ClientQuickstart Troubleshooting Quick Start Joydrive Operation Joydrive and Self-TestsJoystick Connection Motors Test Engaging Self-TestsPress again to begin tests Left forward 13.2Bumpers Sonar TestGripper CompassAnalog Tests Digin and Digout TestUser PWMs Digin DigoutCommunication Packet Protocol Pioneer 2 Operating SystemPacket Checksum Packet ErrorsPacket Data Types Name Data Type Description Server Information Packets Client CommandsBefore Client Connection Ptupos Client Command Argument TypesAutoconfiguration Saphira Client Command SupportProgramming P2OS Establishing a Client-Server Connection-SYNCClosing the Connection-CLOSE Movement CommandsKeeping the Beat-PULSE PID Controls Pioneer in MotionPosition Integration SonarSfRobotComInt44,1 Estop and EstallPacket Processing CONFIGpac and Config CommandExtended Packets SERAUXpac and Getaux PLAYLISTpac and Playlist Command ENCODERpac and Encoder CommandGRIPPERpac and Griprequest Checksum Integer Computed checksumDIGIN, TIMER, and Adsel TCM2pac and TCM2 CommandInput / Output I/O SfSMessageDigin is %i,sfRobot.diginIOpac and Iorequest Digout and PsuposPerformance PeopleBot IRs Where to Get P2OS Software Updating & Reconfiguring P2OSInstalling the P2OS Utilities Updating P2OSPut Microcontroller into Download Mode Enable FlashDownload Troubleshooting Run p2osdlSteps 1-3 Preparing for Configuration Configuring P2OS Operating ParametersChanging Configuration Parameters Run p2oscfEditing P2OS Parameters Save C\p2os\myP2DX Saving and RestoringArm Parameters Keyword Encoder and Revcount PID ParametersParameter DXe Performance PB Calibration Tools revcountcal and compasscalCompasscal /dev/ttyS3 Batteries Maintenance & RepairDrive Lubrication Removing the Nose Alternative Battery ChargersGetting Inside Remove indicated screws to remove Original Pioneer 2-AT Deck Opening the DeckSupport@activmedia.com 603 924-2184 fax 603 924-9100 voice Factory RepairsC166 Controller Ports & Connections Appendix aUser I/O Expansion Port Internal Serial ConnectorsPin Label Use Performance PeopleBot I/OGeneral I/O Bus Power Switch J7 and Delayed Shutdown Logic User Power ConnectionsAppendix B Onboard Computer OptionComputer Power Power-State LogicAppendix C Joystick ConnectorAppendix D SpecificationsControls and Ports Controls IndexSpecifications Warranty & Liabilities Page Concord Street Peterborough, NH 603