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Pioneer
2TM, 3TM manual
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85 pages, 3.4 Mb
Pioneer 3™
&
Pioneer 2™
H8
-Series
Operations Manual
Contents
Main
ii
Page
Table of Contents
Page
Page
Introduction
Chapter 1
ROBOT PACKAGE
ADDITIONAL RESOURCES
2
Tell us your robots SERIAL NUMBER.
What Is Pioneer?
PIONEER REFERENCE PLATFORM
4
PIONEER FAMILY OF MICROCONTROLLERS AND OPERATING SYSTEM SOFTWARE
HITACHI H8S-BASED MICROCONTROLLER
PLUS MOTOR-POWER BOARD
CLIENT SOFTWARE
6
SUPPORTING SOFTWARE
THE PIONEER LEGACY
Page
Page
MODES OF OPERATION
10
Specifications & Controls
PHYSICAL CHARACTERISTICS
12
Page
Page
Inflate the tires evenly or your robot wont drive properly.
BATTERIES AND POWER
Balance the batteries in your robot.
16
DOCKING/CHARGING SYSTEM
RADIO CONTROLS AND ACCESSORIES
18
ONBOARD PC
Page
Page
SAFETY AROS WATCHDOGS
22
Quick Start
Chapter 4
PREPARATIVE ASSEMBLY
CAREFUL Slide the batteries into the robot TERMINALS LAST. Otherwise, you will damage the robot.
STARTING UP CLIENT AND SERVER
24
Page
OPERATING THE ARIA DEMONSTRATION CLIENT
26
DISCONNECTING
QUICKSTART TROUBLESHOOTING
Page
Chapter 5
Joydrive and Self-Tests
JOYDRIVE MODE
ENGAGING SELF-TESTS
ATTENTION!
30
Place your robot on the floor or ground and have everyone step back before engaging self-tests.
ActivMedia Robotics Operating System
CLIENT-SERVER COMMUNICATION PACKET PROTOCOLS
Page
SERVER INFORMATION PACKETS
CLIENT COMMANDS
34
Page
THE CLIENT-SERVER CONNECTION
36
Page
MOTION COMMANDS
38
Page
Page
SONAR
Page
ACCESSORY COMMANDS AND PACKETS
SERIAL PORT COMMUNICATIONS
44
ENCODER PACKETS
Page
Page
INPUT OUTPUT (I/O)
48
Page
DOCKING/CHARGING SYSTEM I/O
50
Page
Page
Updating & Reconfiguring AROS
Chapter 7
WHERE TO GET AROS SOFTWARE
AROS MAINTENANCE MODE
SIMPLE AROS UPDATES
AROSCF
STARTING AROSCF
54
CONFIGURING AROS OPERATING PARAMETERS
SAVE YOUR WORK
PID PARAMETERS
56
Page
TICKSMM AND REVCOUNT
58
STALLVAL AND STALLCOUNT
BUMPERS
Page
Maintenance & Repair
Chapter 8
TIRE INFLATION
DRIVE LUBRICATION
BATTERIES
TIGHTENING THE AT DRIVE BELT
62
GETTING INSIDE
Remove the batteries BEFORE opening the robot. FACTORY REPAIRS
Tell us your robots SERIAL NUMBER
64
We are not responsible for shipping damage or loss.
Appendix A
H8S PORTS & CONNECTIONS
H8S MICROCONTROLLER
Page
Page
Page
Page
Appendix B
Power Distribution
70
PIONEER 3 AND 2-PLUS MOTOR-POWER BOARD
Page
LEGACY MOTOR-POWER
72
Appendix C
RADIO MODEM SETTINGS
Command Description
Appendix D
SERIAL ETHERNET SETTINGS
LAN IP SETTINGS
Page
Appendix D: Serial Ethernet Settings
Appendix E
SPECIFICATIONS
DXe DX8/P3DX AT/AT8 Perf PB PB V1 CE
Physical Characteristics
ActivMedia Robotics Sensors
Controls and Ports
77
Warranty & Liabilities