CHAPTER 1 INTRODUCTION................................................................................................................. 1
ROBOT PACKAGE........................................................................................................................................ 1
Basic Components (all shipments)..........................................................................................................1
Optional Components and Attachments (partial list)............................................................................. 1
User-Supplied Components / System Requirements............................................................................... 2
ADDITIONAL RESOURCES............................................................................................................................ 2
Support Website...................................................................................................................................... 2
Newsgroups............................................................................................................................................ 2
Support................................................................................................................................................... 3
CHAPTER 2 WHAT IS PIONEER?.......................................................................................................... 4
PIONEER REFERENCE PLATFORM................................................................................................................ 4
PIONEER FAMILY OF MICROCONTROLLERS AND OPERATING SYSTEM SOFTWARE...................................... 4
HITACHI H8S-BASED MICROCONTROLLER.................................................................................................. 5
PLUS MOTOR-POWER BOARD..................................................................................................................... 5
CLIENT SOFTWARE...................................................................................................................................... 6
ARIA....................................................................................................................................................... 6
Saphira................................................................................................................................................... 7
Laser Navigation and Localization.........................................................................................................7
SUPPORTING SOFTWARE..............................................................................................................................7
Simulator................................................................................................................................................ 7
Mapper................................................................................................................................................... 7
THE PIONEER LEGACY.................................................................................................................................7
Pioneer 1 and AT.................................................................................................................................... 8
Pioneer 2 and PeopleBot........................................................................................................................ 8
New Pioneer 3 and Recent Pioneer 2-DX8, -AT8, and Plus Mobile Robots.......................................... 9
MODES OF OPERATION.............................................................................................................................. 10
Server Mode..........................................................................................................................................10
Maintenance and Standalone Modes.................................................................................................... 10
Joydrive and Self Test Modes............................................................................................................... 10
CHAPTER 3 SPECIFICATIONS & CONTROLS................................................................................. 11
PHYSICAL CHARACTERISTICS.................................................................................................................... 11
MAIN COMPONENTS.................................................................................................................................. 12
Motor Stop Button................................................................................................................................ 12
User Control Panel...............................................................................................................................13
Body, Nose, and Accessory Panels....................................................................................................... 14
Sonar Arrays with Gain Adjustment..................................................................................................... 14
Motors, Wheels, and Position Encoders............................................................................................... 15
BATTERIES AND POWER............................................................................................................................ 15
Battery Indicators and Low Voltage Conditions...................................................................................16
Recharging........................................................................................................................................... 16
DOCKING/CHARGING SYSTEM................................................................................................................... 17
Manual Operation (Robot Power OFF)............................................................................................... 17
Manual Operation (Robot Power and Systems ON)............................................................................. 17
RADIO CONTROLS AND ACCESSORIES....................................................................................................... 18
ONBOARD PC............................................................................................................................................ 19
Computer Control Panel.......................................................................................................................19
Operating the Onboard PC.................................................................................................................. 20
PC Networking..................................................................................................................................... 20
UPS and Genpower.............................................................................................................................. 21
SAFETY AROS WATCHDOGS.................................................................................................................... 22
CHAPTER 4 QUICK START................................................................................................................... 23
PREPARATIVE ASSEMBLY.......................................................................................................................... 23
Install ARIA.......................................................................................................................................... 23
Install Batteries.....................................................................................................................................24
Client-Server Communications............................................................................................................. 24
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