Pioneer 3TM, 2TM specification

Copyright © 2003, ActivMedia Robotics, LLC. All rights reserved.

Under international copyright laws, this manual or any portion of it may not be copied or in any way duplicated without the expressed written consent of ActivMedia Robotics.

The software on disk, CD-ROM, and/or in the microcontroller’s FLASH, which accompany the robot and are available for network download by ActivMedia Robotics customers, are solely owned and copyrighted or are licensed products distributed by ActivMedia Robotics, LLC.

Developers and users are authorized by revocable license to develop and operate custom software for personal research and educational use only. Duplication, distribution, reverse-engineering, or commercial application of the ActivMedia Robotics software and hardware without the expressed written consent of ActivMedia Robotics, LLC, is explicitly forbidden.

The various names and logos for products used in this manual are often registered trademarks or trademarks of their respective companies. Mention of any third-party hardware or software constitutes neither an endorsement nor a recommendation.

Pioneer 3 & Pioneer 2 H8-Series Operations Manual, version 3, August 2003

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Pioneer 3TM, 2TM manual

Contents

Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Basic Components all shipments IntroductionRobot Package Optional Components and Attachments partial list Support Website User-Supplied Components / System RequirementsAdditional Resources Newsgroups Support Support@activmedia.com What Is Pioneer? Pioneer Reference Platform Plus MOTOR-POWER Board Hitachi H8S-BASED Microcontroller Client Software Http//robots.activmedia.com Supporting Software Pioneer Legacy Pioneer 1 and AT Pioneer 2 and PeopleBot ActivMedia Robotics Modes of Operation Server ModeMaintenance and Standalone Modes Joydrive and Self Test Modes Specifications & Controls Physical Characteristics Main Components Motor Stop Button User Control Panel P3-DX User Control Panel Body, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Batteries and Power Motors, Wheels, and Position Encoders Battery Indicators and Low Voltage Conditions Recharging DOCKING/CHARGING System Manual Operation Robot Power OFFManual Operation Robot Power and Systems on Radio Controls and Accessories Client-server connection options Onboard PC Computer Control Panel Operating the Onboard PC PC Networking UPS and Genpowerd Safety Aros Watchdogs Quick Start Preparative AssemblyInstall Aria Starting UP Client and Server Install BatteriesClient-Server Communications Drive Self-Test Demo Startup Options Ipthru Successful Connection Operating the Aria Demonstration Client Proper Connections DisconnectingQuickstart Troubleshooting OFF SRIsim Joydrive Mode Joydrive and Self-Tests Engaging SELF-TESTS ActivMedia Robotics Operating System CLIENT-SERVER Communication Packet Protocols Packet Errors Packet Checksum Server Information Packets Multiply by DistConvFactor‡ Client Commands Before Client Connection P2OS CLIENT-SERVER Connection Keeping the Beat-PULSE Autoconfiguration SYNC2Opening the Servers-OPEN Closing the Connection-CLOSE Motion Commands Rotation ActivMedia Robots in Motion Platform Dependent and Independent Variables PID Controls Internal coordinate system Sonar Enable/Disabling SonarPosition Integration Polling Sequence and Rate Stalls and Emergencies 11-15 Reserved Accessory Commands and Packets Packet Processing Changing Baud Rates and Autobauding CONFIGpac and Config CommandSerial Port Communications Gripper packets HOST-to-AUX Serial TransfersEncoder Packets Sounds TCM2 Onboard PC Heading Correction Gyro Input Output I/O User I/O Bumper and IR I/O IO packets Digital Port Controls Expansion I/ODOCKING/CHARGING System I/O Docking/Charging Servers Monitoring the Recharge Cycle Charge State Overcharge ~Volts Charge current ID7 ActivMedia Robotics Operating System Aros Maintenance Mode Updating & Reconfiguring ArosWhere to GET Aros Software Simple Aros Updates Updating and Reconfiguring Aros Starting Aroscf Changing Parameters Configuring Aros Operating ParametersInteractive Commands Save Your Work PID Parameters Keyword Ticksmm and Revcount 0056 0057 0060 0034 Stallval and Stallcount Bumpers Updating and Reconfiguring Aros Drive Lubrication Maintenance & RepairTire Inflation Batteries Tightening the AT Drive Belt Alternative Battery ChargersAutomated Docking/Charging System Getting Inside Removing the Nose Opening the Deck Factory Repairs H8S Ports & Connections Power ConnectorAppendix a H8S Microcontroller Serial Ports User I/O, Gripper, Docking/Charging Port OD7 Expansion I/O Bus User Control Interface Bumper PortsMotors, Encoders, and IR Sensors Joystick Port Appendix B Pioneer 3 and 2-PLUS MOTOR-POWER BoardConfiguration for Current and Temperature Sensing Controller Power and Interface Radio, Auxiliary, and User Power Connectors IR Signal and Power GND Radio Modem Settings Appendix C Appendix D Serial Ethernet SettingsConsole mode Webpage Peer-to-Peer Networking Specifications Appendix E Controls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603