Pioneer H8-Series Operations Manual | Pioneer 2TM, 3TM instruction

Pioneer 3™

&

Pioneer 2™

H8-Series

Operations Manual

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Pioneer 2TM, 3TM manual Pioneer H8-Series Operations Manual

Contents

Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Robot Package IntroductionBasic Components all shipments Optional Components and Attachments partial list Additional Resources User-Supplied Components / System RequirementsSupport Website Newsgroups Support@activmedia.com Support Pioneer Reference Platform What Is Pioneer? Hitachi H8S-BASED Microcontroller Plus MOTOR-POWER Board Http//robots.activmedia.com Client Software Pioneer Legacy Supporting Software Pioneer 2 and PeopleBot Pioneer 1 and AT ActivMedia Robotics Maintenance and Standalone Modes Server ModeModes of Operation Joydrive and Self Test Modes Physical Characteristics Specifications & Controls Motor Stop Button Main Components P3-DX User Control Panel User Control Panel Sonar Arrays with Gain Adjustment Body, Nose, and Accessory Panels Motors, Wheels, and Position Encoders Batteries and Power Recharging Battery Indicators and Low Voltage Conditions Manual Operation Robot Power and Systems on Manual Operation Robot Power OFFDOCKING/CHARGING System Client-server connection options Radio Controls and Accessories Computer Control Panel Onboard PC PC Networking Operating the Onboard PC UPS and Genpowerd Safety Aros Watchdogs Install Aria Preparative AssemblyQuick Start Client-Server Communications Install BatteriesStarting UP Client and Server Drive Self-Test Ipthru Demo Startup Options Operating the Aria Demonstration Client Successful Connection Quickstart Troubleshooting DisconnectingProper Connections SRIsim OFF Joydrive and Self-Tests Joydrive Mode Engaging SELF-TESTS CLIENT-SERVER Communication Packet Protocols ActivMedia Robotics Operating System Packet Checksum Packet Errors Multiply by DistConvFactor‡ Server Information Packets Before Client Connection Client Commands P2OS CLIENT-SERVER Connection Opening the Servers-OPEN Autoconfiguration SYNC2Keeping the Beat-PULSE Closing the Connection-CLOSE Rotation Motion Commands Platform Dependent and Independent Variables ActivMedia Robots in Motion Internal coordinate system PID Controls Position Integration Enable/Disabling SonarSonar Polling Sequence and Rate 11-15 Reserved Stalls and Emergencies Packet Processing Accessory Commands and Packets Serial Port Communications CONFIGpac and Config CommandChanging Baud Rates and Autobauding Encoder Packets HOST-to-AUX Serial TransfersGripper packets TCM2 Sounds Heading Correction Gyro Onboard PC User I/O Input Output I/O IO packets Bumper and IR I/O DOCKING/CHARGING System I/O Expansion I/ODigital Port Controls Docking/Charging Servers Charge State Overcharge ~Volts Charge current ID7 Monitoring the Recharge Cycle ActivMedia Robotics Operating System Where to GET Aros Software Updating & Reconfiguring ArosAros Maintenance Mode Simple Aros Updates Starting Aroscf Updating and Reconfiguring Aros Interactive Commands Configuring Aros Operating ParametersChanging Parameters PID Parameters Save Your Work Keyword 0056 0057 0060 0034 Ticksmm and Revcount Bumpers Stallval and Stallcount Updating and Reconfiguring Aros Tire Inflation Maintenance & RepairDrive Lubrication Batteries Automated Docking/Charging System Alternative Battery ChargersTightening the AT Drive Belt Removing the Nose Getting Inside Factory Repairs Opening the Deck Appendix a Power ConnectorH8S Ports & Connections H8S Microcontroller User I/O, Gripper, Docking/Charging Port Serial Ports Expansion I/O Bus OD7 Motors, 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 Interface GND IR Signal and Power Appendix C Radio Modem Settings Console mode Serial Ethernet SettingsAppendix D Peer-to-Peer Networking Webpage Appendix E Specifications Controls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603