Pioneer 2 / PeopleBot manual

Pioneer 2 / PeopleBot

Operations Manual

for P2OS-based ActivMedia Robots

PIONEER 2-DXE PIONEER 2-AT PEOPLEBOT

Contents

Main Pioneer 2 / PeopleBot Operations Manual for P2OS-based ActivMedia Robots ii Page Table of Contents Page Page Introduction Chapter 1 Robot Package Additional Resources 2 Page What Is Pioneer? Client Software 4 Page Page The Pioneer Legacy Page Modes of Operation Specifications & Controls Chapter 3 10 Physical Characteristics Main Components Page Page Page Balance the batteries in your robot. Electronics 14 Controls, Ports, and Indicators The MOTORS pushbutton is not a power switchit does not directly control power to the motors. 16 Page PeopleBot Sensors and Emergency STOP Safety Watchdogs and Configuration 18 Quick Start Chapter 4 Preparative Assembly Saphira Client Start-Up Robot Cold Start-Up 20 Starting Client-Server Communications A Successful Connection Operating the Saphira Demonstration Client 22 Disconnecting Serial Communications (intentionally or unintentionally) Quickstart Troubleshooting Page Joydrive and Self-Tests Chapter 5 Joystick Connection Beware The Joystick and the older Gripper interfere at the User I/O port. ATTENTION! 26 Place your robot on the floor or ground and have everyone step back before engaging self-tests. Motors Test Sonar Test Bumpers Gripper Compass DIGIN and DIGOUT Test ANALOG Tests 28 User PWMs Pioneer 2 Operating System Communication Packet Protocol Page Page Server Information Packets Client Commands 32 Page Page Programming P2OS Movement Commands 36 Page Sonar 38 BUMP_STALL NOTICE BUMPSTALL requires supporting bump ring accessories. E_STOP and E_STALL Extended Packets 40 Page Page Input / Output (I/O) Page Performance PeopleBot IRs Updating & Reconfiguring P2OS Chapter 7 46 Where to Get P2OS Software Installing the P2OS Utilities Page Configuring P2OS Operating Parameters 48 Editing P2OS Parameters Saving and Restoring Arm Parameters 50 Page PID Parameters Encoder and Revcount 52 Calibration Tools - revcountcal and compasscal Compasscal is for the V 2XG compass only; not for the TCM2 Module. Saphira required CompassCal and RevcountCal only work with licensed and properly installed Saphira. Page Maintenance & Repair Chapter 8 Drive Lubrication Batteries CAREFUL! The Batteries slide in TERMINALS LAST! Getting Inside Open the robot AT YOUR OWN RISK, unless explicitly authorized by the factory. 56 BE CAREFUL: Delicate wiring inside. Page Factory Repairs We are not responsible for shipping damage or loss. 58 Appendix A C166 Controller Ports & Connections Internal Serial Connectors User I/O Expansion Port 60 Performance PeopleBot I/O The General I/O Bus 62 Appendix B Motor-Power Board User Power Connections Onboard Computer Option Page Appendix C Joystick Connector Appendix D: Specifications Appendix D Specifications 66 DXe DX AT Perf PB PB V1 CE Physical Characteristics ActivMedia Robotics Sensors Controls and Ports 67 Microcontroller and Console Controls & Ports Index Page Warranty & Liabilities