Pioneer 2TM, 3TM

19 Columbia Drive

Amherst, NH 03031

(603) 881-7960

(603) 881-3818 fax

htt

://www.mobilerobots.com

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