Pioneer 3TM manuel d'utilisation

Pioneer 3™ & Pioneer 2™ H8 -Series Operations Manual[...]

Copyright © 2003, Activ Media Robotics, LLC. All rights reserved. Under internat ional copyright laws, this manual or any portion of it may not be copied or in any way duplica ted without th e expressed wr itten consent of Ac tiv Media Robotics. The software on disk, CD-ROM, and/or in th e microcontroller’s FLASH, which accompany the robot and a[...]

Activ Media Robotics Important Safety Instructions  Read the installation and operations in structions before using the equipme nt.  Avoid using power extension cords.  To prevent fire or shock hazard, do not ex pose the equipm ent to rain or moisture.  Refrain from opening the unit or any of its accessories.  Keep wheels away from l[...]

Table of Contents CHAPTER 1 IN TRODU CTION ......................................................................................................... ........ 1 R OBOT P ACKAGE ........................................................................................................................................ 1 Basic Components (all shipm ents) .[...]

Activ Media Robotics S TARTING U P C LIENT AND S ERVER ...........................................................................................................24 Drive Se lf-Test ................................................................................................................ .......................24 Client Server Connec tion ...[...]

AROS CF ................................................................................................................................................... 54 S TARTING AROS CF ............................................................................................................................... .... 54 C ONFIGURING AROS O PERATING P ARAMET[...]

Activ Media Robotics Introduction Figure 1. Pioneer Mobile Robo ts first appeared commerc ially in 1995. Chapter 1 Congratulations on your purchase and welcome to the rapid ly growing communi ty of developers and enthusiasts of Activ Media Robotics’ intelligent mobile robots. This Pioneer 3 & Pioneer 2 H8-Series Operations Manua l provides bo[...]

Congratulations  Global Positioning System  Heading-correction gyro  Compass  Bumper rings  Serial cables for external connections  Many more… User-Supplied Compone nts / System Requiremen ts  Client PC: 586-c lass or later PC with Microsoft Windows© or RedHa t © Linux OS  One RS-232-compatible serial por t or Ethernet ?[...]

Activ Media Robotics Access to the pioneer-users newslist is limited to subscribers, so your address is safe from spam. However, the list currently is unmoderated, so please confine your comments and inquir ies to issues concerni ng the operation and programming of Pioneer or PeopleBot robots. Support Have a problem? Can’t find the answer in this[...]

What is Pioneer? What Is Pioneer? Chapter 2 Pioneer is a family of mobile robots, both two-wheel and four-wheel driv e, including the Pione er 1 and Pioneer AT, Pioneer 2™ -DX, -DXe, -DXf, -CE, -AT, the Pioneer 2™-DX8/Dx8 Plus and -AT8/AT8 Plus , and the newest Pioneer 3-DX and - AT mobile robots. These sm all, research and development platform[...]

Activ Media Robotics Activ Media robots, including Pioneer 3, Perf ormance PeopleBot, and PowerBot, use a multifunctional Hitachi H8S-based microcontrolle r and new Activ Media Robot ics Operating System (A ROS) software. 2 The newest Pione er 3 and 2 Plus platforms also sport an advanced motor-power board for high-power motor drives and systems po[...]

What is Pioneer? AT8 Plus now come wi th a lower motor-gearhead reduction for faster speeds, even with much-improved turning power. C LIENT S OFTWARE All Activ Media robots operate as the server in a cli e nt-server en vironment: Their controllers handle the low-lev el details of mobile robotics, including maintaining the platform’s drive speed a[...]

Activ Media Robotics What’s more, it comes with source code so that you may examine the software and modify it for your own sensors and appl ications. Saphira Saphira, including the Colbert language, is a full-featu red robotics control environment developed at SRI Internat ional’s Art ificial Intelligence Cent er. Saphira and its ARIA fou nda [...]

What is Pioneer? Pioneer 1 and AT Figure 5. The original P ioneer 1s Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 had solid rubber tires and a two- wheel different ial, reversible drive system with a rear caster for balance. The Pioneer 1 ca me s tan d ar d wi th s eve n sonar range finders (two side-facing and five forward-[...]

Activ Media Robotics performance 20 M Hz Siemens 88C166-based microcontroller, wit h independ ent motor/ power and sonar-controller boards for a versat ile operating environment. The cont roller had two RS232-standard communications po rts and an expansion bus to support the many accessories available for your Activ Media robot, as well as your own[...]

What is Pioneer? M ODES OF O PERATION You may operate your Pioneer 2 and 3 robo ts in one of five modes:  Server  Joydrive  Self-test  Maintenance  Standal one Server Mode The Pioneer H8S microcontrol ler comes wi th fully progra mmable 128K FLASH and 32K dynamic RAM included in its Hitachi 18 MH z H8S/2357 microprocessor. An additio[...]

Activ Media Robotics S pecifications & Controls Chapter 3 Activ Media’s Pioneer ro bots may be smaller th an most, but they pa ck an impres sive array of intelligent mobile robot capabilities that rival bigger and much more expensive machines. For ex ample, the Pioneer 3-DX with onboard PC is a fully autonom ous intellig ent mobile robot. U n[...]

Specifications and Controls M AIN C OMPONEN TS Activ Media robots are composed of severa l main parts:  Deck  Motor Stop Button  User Cont rol Pane l  Body, Nose, and Accessory Panels  Sonar Array(s)  Mot o rs , Whe e ls , an d E nc ode r s  Batteries and Power  Deck Figure 10. Components of the Pioneer 3 The original Pionee[...]

Activ Media Robotics User Control Panel The User Control Panel is wher e you have access to the AROS-based onbo ard microcontroller. Found inside the AT’s hinged access panel on the deck or on the l eft- s i d e p a n e l o f t h e D X , i t c o n s i s t s o f c o n t r o l b u t t o n s a n d i n d i c a t o r s , a n d a n R S 2 3 2 - compatib[...]

Specifications and Controls To engage AROS maintena nce mode, press and hold the whi t e MOTORS button, press and release th e red RESET button, t hen release MOTORS. In the f uture, the w hite MOTORS button may engage other modes, such as when in AROS stand alone mode. Body, Nose, and Acces sory Panels Your Activ Media robot’s sturdy , but light[...]

Activ Media Robotics Each sonar array come s with its o wn driver elec tronics for independ ent control . Each array’s sonar are multiplexed; the sonar acquis i tion rate is adju stable, normally set to 25 Hz (40 milliseconds per sonar per array). Se nsit ivit y ran ges fr om ten c entime ters (six inches) to over four meters, depending on th e r[...]

Specifications and Controls and slide each battery out of its bay. Sp ring contacts on the robot’s ba ttery power board alleviate th e need for man ually at taching and detaching power cables or connectors. Balance the batteries in your robot. Bat t er y li fe , of co ur se , de pe nd s o n th e c on figu ration of acce ssories and m otor activ i[...]

Activ Media Robotics D OCKING /C HARGING S YSTEM The Pioneer 3/PeopleBot docking/charging accessory is both a manual and an auto mated mec hani sm. Onb oar d contr ols, tri ggere d ei ther by the DE PLOY CHARGER button near the manual CHARGE port, or by H8S controller-mediate d client commands, deploy actuated contacts on the bottom of the robot, w[...]

Specifications and Controls mechanism. And the charging mechanism will not a ctivate until yo u diseng age the motors, either manual ly or programmatically. R ADIO C ONTROLS AND A CC ESSORIES All Activ Media robots are server s in a client-server architectur e . You supply the client computer to run your intellige nt mobile-robot applications. The [...]

Activ Media Robotics O NBOARD PC Unlike the original Pioneer 1, Pioneer 2 and 3 robots are designed to support an onboard, internally integrat ed PC for fully autonomous operation. Mounted just behind the nos e of the robot, the PC is a common EB X form-factor that comes with up to four serial por t s, 10/100Base-T Ethernet , monitor, keyboard, an [...]

Specifications and Controls The controls and ports use common connec tors: standard monitor DSUB and PS/2 connectors on the mouse and key board. The Ethernet is a 10/100Bas e-T standard RJ-45 socket. The ON/OFF slide swit ch directly cont rols powe r to the onboa rd PC—throu gh Main Power , unlike some earlier versions of the onboard system which[...]

Activ Media Robotics 802.11b-co mpatible wirel ess Ethernet card in one of its slots. The wireless Ethernet antenna sits atop the top deck. To complete the wireless inst allation, you wi ll need to provide an Access Point module ( c o m e s a s a n a c c e s s o r y w i t h m o s t u n i t s ) . At tach the Acc ess Poi nt t o on e of your LA N h u [...]

Specifications and Controls below safe operating level of ~11 VDC. 10 , 11 Genpowerd runni ng on the onboard Linux system or ups.exe running under Windows, detects the change of state and initiates OS shutdown after a short wait, during which th e shutdown may be canc eled by raising th e battery voltage, such as by a ttaching a charger. Genpowerd [...]

Activ Media Robotics Quick S t art Chapter 4 This chapter describes how to quickly set up and operate your new Activ Media robo t with the ARIA demon stratio n soft war e. F or mo re deta ils abo ut prog rammin g a nd operating your Activ Media mobile ro bot w ith ARI A, Saphir a, or o the r client softw are, se e their respective pr ogramming manu[...]

Quick Start Install Batteries Out of the box, your Activ Media robot comes with its batteries fully charge d, although shipped separately, unless you ha ve the auto mated docking/charging system. For most models, sli de one or up to three bat teries into robot’s batter y box t hrough the back d oor. Balance them: one in the center; if two, then o[...]

Activ Media Robotics needed), by starting and tes ting the robot, and by connecting th e client PC wi th the AROS controller via a serial link. Now it is time to connec t the ARIA demonstration program with your robot. If you are using radio m odems or the new Low-Speed Ethernet-to-serial device to communicate wirelessl y from a desktop PC to the r[...]

Quick Start A Successful Connection Table 2. ARIA de mo operation modes MODE HOT K EY DESCRIPTION laser l Displays the closest and furthest readings from the robot’ s laser range finde r io i Displays the state of the robot’s digital and analog-to -digital I/O por ts position p Displays the coordinates of th e robot’s position relative to its[...]

Activ Media Robotics as a demonstration tool, but as a diagnostic one, as we ll, if you s uspect a senso r or effector has failed or is working poorl y. Access each ARIA demo mode by pressing i ts related ho t-key;‘t’, for instance, to selec t teleoperation. Each mode includes onscre en instruct ions and may have sub-menus for operating of the [...]

Quick Start To test for range limi t s, simply pick up the robot and move i t closer to the bases tation radio modem or access point. If the robo t was o ut of range, the connection should r e s u m e . I f n o t , c h e c k t o m a k e s u r e t h a t radio mode ms were not inadvertently switched OFF . Communications also will fail if the clie nt [...]

Activ Media Robotics Chapter 5 Joydrive and Self-T est s Alth oug h no t all m ode ls come st and ard with a joy stick po rt, your robo t’s H8S- base d controller has a joystick connector and AROS c o n t a i n s a j o y d r i v e s e r v e r f o r m a n u a l operation. 13 And AROS comes with a short sel f-tes t routine for your robot’s drive [...]

Joydrive and Self Test s E NGAGING S ELF -T ESTS To enable self- test mode, press the white MOTOR S button twice af ter startup or RESET . 14 ATTENTION! Place your robot on the floor or ground and have everyone step back before engaging self-tests. Currently, the only AROS self- test exercises your Activ Media robot’s drive motors. During this te[...]

Activ Media Robotics ActivMedia Robotics Operating System Chapter 6 All Activ Media robots use a client-server mobile robot-control architecture originall y develo ped a t SRI In ternation al, Inc. an d Stan for d Un iversity . In the mo del, th e rob ot’s controller servers work to manage all the low- level detail s of the mo bile robot’s syst[...]

ActivMedia Rob otics Oper ating System a l w a y s f i r s t. S om e d a t a a r e s tr i ng s o f u p to a maximum 200 bytes, prefaced by a leng th byte. Unli ke common data in tegers, the two- byte check sum appears wi t h its most- significant byte first (opposite order). Packet Checksum Calculate th e PSOS/P2OS/AROS cli ent-server pa cket check[...]

Activ Media Robotics S ERVER I NFORMATION P ACKETS Like its PSOS and P2OS predecessors, AR OS auto matica lly a nd r epe ated ly sends a packet of information over its HOST serial port to a connected client. The standard AROS SIP informs the client about a number of op erating st ates and readin gs, using th e order and data types described in the [...]

ActivMedia Rob otics Oper ating System C LIENT C OMMA NDS AROS has a structured command format for re ceiving and responding to directions from a client for cont rol and operation of your Activ Media rob ot or the s imu lator. C lien t commands are comprised of a one- by te command number op tionally follow ed, if required by th e command, by a one[...]

Activ Media Robotics DCHEAD 22 sint Heading setpoi nt relative to last setpoi nt; ± degrees (+ = ccw) 1.0 SETRA 23 sint Rotational (+)acceleration or (-)deceleration, in degrees/sec/sec 1.0 1.0 – SONAR 28 int 1=enable, 0=di sable all the sonar; otherwise, use bit 0 to ena b le (1) or disable ( 0) a particular array 1-4, as specified in argument [...]

ActivMedia Rob otics Oper ating System to AUX2 H8S serial por t GETAUX 2 67 int Request t o retrieve 1 -200 byt es from t he AUX2 H8S serial port; 0 flushes the bu ffer. 1.1 – – CHARGE 68 int 1 to deploy a utochar ging m echanism; 0 to ret ract 1.7 – – ARM 70 - 81 int Arm-related com mands; see m anual for det ails 1.3 – – ROTKP 82 int [...]

Activ Media Robotics Autoconfiguration (SYNC2) AROS automatically sends robot configu ration information back t o the client following the last synchronization packet ( SYNC2 ). The configurat ion values are th ree NULL- terminated strings that comprise the robot’s FLASH-stored name , class , and subcl ass . You may uniquely name your Activ Med i[...]

ActivMedia Rob otics Oper ating System With AROS versio ns 1.3 and later, many of th e controller’s operating parameters return to their FLASH-based default values upon disconne ction with the client. 18 For example, if the FLASH default for the maximu m velocity is 1000 m illimeters per second, and your client uses the SETV command #6 to reset t[...]

Activ Media Robotics ActivMedia Robots in Motion Activ M edia robots use p ositio n, as opp osed to veloc ity, m otio n contro ls to tra nsl ate the platform a certain distance and turn i t to a particular heading. To achieve constan t translat ional ( VEL ), rotatio nal ( ROTATE ), or independent-wheel ( VEL2 ) velocities, the servers simply set t[...]

ActivMedia Rob otics Oper ating System At the same time, AROS report s back to the client in the st andard SIP the robot’s position and speed. Not all robo ts convert th ese value s into pla tform-indep endent uni t s. ARIA and Saphira clients rely on conversion fact ors found in your robot’s respective “. p ” parameter file to make the nec[...]

Activ Media Robotics Consequen tly, we typic ally use a mi nimum value for Ki in the range of 0 to 1 0 for lightly to heavily loaded robots respecti vely. Position Integration Activ Media robots, including Pioneer 2s and 3s , track their position and orientation based on dead-reckoning from wheel motion de rived from encoder readings. The robot mai[...]

ActivMedia Rob otics Oper ating System sonar array number one; numb ers nine throug h 16 get added to the sequenc e for sonar array number two; 17- 24 specify the sequ ence for array three; and 25-32 are for array four. You may i nclude up to 16 sona r numbers in the sequence for any single array. Only those arrays whose sonar numbers a ppear in th[...]

Activ Media Robotics Normally enabl ed (defaul t was disabl ed in P2OS), change E_STALL by sending the AROS command #56. With argument of zero, E_STALL gets disabled. An argu ment value of one re-enables E_STALL . A CCESSORY C OMMANDS AND P ACKETS Several types of alternative ser ver informatio n packets (SIPs) come with AROS to better support the [...]

ActivMedia Rob otics Oper ating System received a command from a client. Restarts on restoration of connection. P2M PACS byte 1 enables alternative SIP. S TALL V AL int Maximum PWM before stall. If > PwmMax, never. S TALL C OUNT int Ms time after a stall for recovery. Motors not engaged during this time. J OY V EL int Joystick translation veloci[...]

Activ Media Robotics For auto -baud, the HOST serial p or t au toma tical ly r ever ts to it s FLA SH defa ult bau d ra te if , after being reset by the HOST BAUD clien t command, it does not recei ve a subseque nt and valid client-command packet within 500 milliseconds. HOST-to-AUX Serial Transfers Use the clie nt-side TTY2 command #42 with a stri[...]

ActivMedia Rob otics Oper ating System Table 11. GRIPPERpac state byt e BIT FUNCTION STATE 0 Grip limit Paddl es fully open w hen 0; ot herwise betwe en or close d 1 Lift limit Lift fully up or down when 0; otherwise in between 2 Outer breakbeam Obstructed wh en 0; nothing in bet ween when 1 3 Inner breakbeam Obstructed when 0; nothing in bet ween [...]

Activ Media Robotics Onboard PC Communication be tween the onboard PC and the H8S microcontroller is RS232 serial through the respective COM1 (Windows) or /dev/ttyS0 (Linux) and internal HOST ports. Set the HostBaud FLASH communication rate to ma tch the PC clien t-software’s serial port rate . Beginning with AROS version 1. 6, the RI pin 9 on th[...]

ActivMedia Rob otics Oper ating System modifications to the robot's he ading are done on the client side, as supported in the latest versions ( 1 .3 and later) of ARIA. To enable the gy ro, you mu st set the HasGyro FLASH parameter to 1 using the AROScf tool (see nex t chapter). Set it to 0 if the gyro isn't a ttached. Then to acquire gyr[...]

Activ Media Robotics For example, here’s the A ROS client comm and to set di gital output por ts one and three ( OD1 and OD3 ), reset port four ( OD4 ), and leave all the rest alone ( hexadecimal notation): 0xFA, 0xFB, 0x06, 0x1E, 0x1B, 0x19, 0x09, 0x37, 0x24 Bumper and IR I/O Two 10-position latching IDC connectors on the H8S controller provide [...]

ActivMedia Rob otics Oper ating System Expansion I/O Four alternative A/D por ts appear at the 40-posi tion Expansion I/O conn ector of the H8S microcontroller. 24 U se t he ADSEL client command number 35 to select and subsequen t ly have the A/D value fr om one of the alterna t ive ports AN2-5 appear in the standard SIP. The default port is AN0 (A[...]

Activ Media Robotics disengage the motors while charging, such as by disconnecting, you will have to re- engage them f rom the client or by manually pressing the MOTORS button on the controller. Re-engaging the motors automa tically retracts the charging mechanism. While the motors ar e engaged, the charging mechanism canno t be deployed, except by[...]

ActivMedia Rob otics Oper ating System The "overcharge" bit ID7 is set ( 1) when the ba tteries are well belo w full charge a nd the charger is at full charging cu rrent. During this bulk-charg ing period, the battery voltage rises to around 13.8- 14V. The o vercharge bit ID7 th en drops to low ( 0 ) while the batte ries charge from appro[...]

Activ Media Robotics Up dating & Reconfiguring AROS Chapter 7 The AROS software and a set of operating parameters for your Activ Media robot get stored in the H8S microcont roller's FLASH ROM. With spec ial upload and configuration software tools, you change and update the FLASH memory image. No hardware modification is require d. W HERE T[...]

Updating and Reconfiguring AROS Text prompts will help you get connected with yo ur Activ M edia robot’s H8S-based controller and update its AROS server s. No fuss. No muss. AROS CF The AROS update and configuration program, AROScf , is part of a collection of utilities and files for comprehensive management of your Acti vMedia robot’s onboard [...]

Activ Media Robotics Similarly, this Linux xterm command uploads a fresh copy of AROS to your robot’s H8S- based microcontroller and then exits, much like the simple dl_AROS1_0 program: % ./AROScf –d AROS1_0.hex –n -b Table 15. AROScf startup options KEY ARGUMENT DESCRIPTION -b command arguments Batch mode executes list of AROScf Interactive [...]

Updating and Reconfiguring AROS See the respective cont rol command and parame ter Tables ne arby for a full description of AROScf operation. Table 16. AROScf control commands COMMAND DESCRIPTION KEYWORD <value> Alone, a keyword displays current, edited value. Add argument to change current value. c or constants Display all constant parameter[...]

Activ Media Robotics Table 17. AROS FLASH configuration para me ters with values for Pioneer 3–DX KEYWORD Type Default Description CONSTANTS Should not be changed PTYPE str Pioneer Identifies the robot type. PSTYPE str P3DX Identifies the Activ Media robot model. S ERNUM str factory Serial number for the robot. VERNO str 1.x AROS version number T[...]

Updating and Reconfiguring AROS ROTKP int 30 Proportional PID for rotation ROTKV int 200 Differential PID for rotation ROTKI int 0 Integral PID for rotation TRANSACC int 300 Translational acceleration; mm/sec 2 TRANSDECEL int 300 Translational deceleration; mm/sec 2 TRANSKP int 15 Proportional PID for translation TRANSKV int 450 Differential PID fo[...]

Activ Media Robotics Ticksmm and revcount affect only the conversion of your motion command arguments into platfo rm-depend ent values. Your cli ent must i ndepend ently convert values reported back from the server, such as X-Pos and Th , int o platform-independent v alues. ARIA clien ts use the conver sion factor s found in your robot’s respecti[...]

Updating and Reconfiguring AROS Set the FrontBump and RearBump pa ramet ers t o th e numbe r of bumper segments for the f r o n t a n d r e a r b u m p e r s , r e p e c t i v e l y ; o r t o 0 if y ou don't have a part icular bumper. F or pre- AROS 1 .6 r obots, you do n't n eed to se t th ese values to hav e them work wit h AROS 1.6. Th[...]

Activ Media Robotics Maintenance & Rep air Chapter 8 Your Activ Media robot is bu ilt to last a lifet ime and requires littl e maintenance. T IRE I NFLATION Maintain even t ire inflation for proper nav igation of your Pionee r 3 or 2 robot. We ship with each p neuma tic tir e in fla ted to 23 p si. I f you change t he inflat ion, rem ember to a[...]

Maintenance and Repair to t he c harger and in sert i t in to the c harge s ocket that is just bel ow your robot’ s Main Power switch. The LEDs on the charger indica t e charge status, as marked on its case. It takes fewer than 12 hours—of ten just a few hours, depending on the level of discharge—to fully charge a batter y using the accompany[...]

Activ Media Robotics Remove the small p lastic plug which is near the hinge on th e t op plate and near the edge by the wheel. Under it, you will see the head of a large hex bo lt . This bolt tightens (clockwise) or loosens (counter-clo ckwise) the drive belt for that side of the robot. Turn it using a 5mm hex ke y probab ly not m ore than 1 full r[...]

Maintenance and Repair Figure 22. Rem ove indicat ed screws from Pioneer 2- or 3-DX or -AT rear deck to open plate. Careful: The computer’s hard-drive, fan, an d speaker have attached wire harnesses that you need to relieve before completely detaching the nose from the body. We reco mmend unp lugg ing the spea ker wi re an d simply rotati ng th e[...]

Activ Media Robotics Appendix A H8S P ORTS & C ONNECTIONS Figure 23. Mini- and micro-fit styl e connector numbering This Appendix contains pinout and electrical specifications for the ext ernal and internal ports and connectors on the H8S microcont roller, motor-power interface, and User Control boards. Figure 24. IDC-type connec tor bi Note th[...]

Appendix A: Ports and Connecti o ns Serial Ports Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxi liary serial ports for the H8S controller. All are RS-2 3 2 c o m p a t i b l e . T h e H O S T p o r t i s s h a r e d o n both the User Control Panel as well as on the H8S cont roller board and is for AROS client- server [...]

Activ Media Robotics Lift direction Inner breakbeam IR 9 ID4 DIGIN bit 4; Left paddle contact 10 OD4 DIGOUT bit 4; Automated docking/charging “inhibit” 11 ID5 DIGIN bit 5; Right paddle contact 12 OD5 DIGOUT bit 5; Automated docking/charging “deploy” 13 ID6 DIGIN bit 6; Automated docking/charging ”power good” 14 OD6 DIGOUT bit 6; User on[...]

Appendix A: Ports and Connecti o ns Table 24. Bump er ports (10-pos latching IDC) PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 BP0 Bumper bit 0 2 BP1 Bumper bit 1 3 BP2 Bumper bit 2 4 BP3 Bumper bit 3 5 BP4 Bumper bit 4 6 BP5 Bumper bit 5 7 BP6 Bumper bit 6 8 BP7 Bumper bit 7 9 Gnd Common 10 Gnd Common Bumper Ports Two 1 0-po sit ion la tching I[...]

Activ Media Robotics Joystick Port An 8-position microfit socket provides signal lines for c onnecti on to an anal og joyst ick. Indicated lin es (*) are shared on o ther connectors. Table 27. Joystick connector (8-pos microfit) PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 Vcc 5 VDC 2 FB0 Fire button 0 3 *AN4 A/D port 4; Y-axis 4 Gnd Signal comm[...]

Appendix B: Motor-Power Board Connectors Appendix B Power Distribution Activ Media Robotics’ original H8 S-based Pioneer 2 robots ha ve two separate boards which interface with the H8S microcontroller and provide power for the motors as well as conditioned power and signal pat hs fo r the standard and accessory onboard electronics. The new Plus -[...]

Activ Media Robotics Table 28. Mo t or Tempera ture Sensors Connec t or (4-pos micro f it) PIN SIGNAL DESCRIPTION 1 Vcc 5 VDC 2 T2 To AN2-based temp sensor circuit 3 T1 To AN1-based temp sensor circuit 4 GND Signal /power comm on Otherwise, a jumper across R76 connects the AN1 port to the Fan S ensor system that is atta ched to th e FE T h eat sin [...]

Appendix B: Motor-Power Board Connectors Table 32. User Power connector (12-pos latchlock; unsw itched) PIN CONNECTION PIN CONNECTION 1 Vcc 7 Vcc 2 Gnd 8 Gnd 3 Vpp 9 Vpp 4 Vcc 10 Vcc 5 Gnd 11 Gnd 6 Vpp 12 Vpp IR Signal and Power Originally availab le on the Mo tor-Power Interface Board and now integrated on the new Motor-Power board, four connect o[...]

Activ Media Robotics Appendix C R ADIO M ODEM S ETTINGS The radio modem-based wireless serial accessory com es pre-configured for use wit h your Activ Media robot for client-server connect ions. One modem comes installed in the robot (robot’s HOST serial port pins 7 and 8 jumpered; powered 5 VDC from RADIO s wi t c h) . Al l yo u ne e d t o do i [...]

Appendix D: Serial Ethernet Se ttings Appendix D S ERIAL E THERNET S ETTINGS The Ethernet-to-Serial device settings are ma de at the fact ory and stored in FLASH. Pressing and holding the test button for more than five se conds restores those settings. Serve r name: AMR -E W-1 Wir e l e s s SSID: WaveLAN Network Mode: I nfrast ructure Speed: 1 Mbps[...]

Activ Media Robotics 2. Attach a cross-over serial cable between your PC and the serial port on th e device 3. Start minicom (Linux), HyperTerminal (W indo ws) or comparable serial console on your PC 4. Serial settings are 1 15,200 ba ud, 8 bits, one st op, no parity and hard ware handshaking. 5. Hold in the test button and power the device 6. Pr e[...]

Appendix D: Serial Ethernet Se ttings Appendix E S PECIFICATIONS DXe DX8/P3DX AT/AT8 Perf PB PB V1 CE Physical Characteristics Length (cm) 44.5 44.5 50 47 47 44 Width (cm) 40 40 49 38 38 33 Height (cm) 24.5 24.5 24 124 104 22 Clearance (cm) 6.5 6.5 5.5 3.5 3.5 5.1 Weight (kg) 9 9 14 21 19 9 Payload (kg) 23 25 40 11 13 20 Power Batteries 12VDC lead [...]

Activ Media Robotics Sensors DXE DX8/P3DX AT/ AT8 Perf PB PB V1 CE Sonar Front Array (one each side, six forward @ 20° intervals) 8 8 8 8 8 8 Rear Sonar Array (one each side, six rear @ 20° intervals) 8 8 8 8 8 na Top Deck Sonar (one each side, six forward @ 20° intervals) na na na 8 8 na Encoders (2 ea) counts/rev 39,400 76,600 34,000 76,600 76[...]

W arranty & Liabilities Your Activ Media robot is fully warranted against de fective parts or assembly for one year after it is shipped to you from the factory. Accessories are warranted for 90 days. This warranty explicitly does not include damage from shipping or from abuse or inappropriate operation, such as if t he robot is al lowed to tumb[...]

19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax htt p ://www.mobilerobots.com[...]