Pioneer 3™ & Pioneer 2™ H8-Series Operations Manual
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.
ActivMedia Robotics Important Safety Instructions Read the installation and operations instructions before using the equipment. Avoid using power extension cords. To prevent fire or shock hazard, do not expose the equipment to rain or moisture. Refrain from opening the unit or any of its accessories. Keep wheels away from long hair or fur. Never access the interior of the robot with charger attached or batteries inserted.
Table of Contents CHAPTER 1 INTRODUCTION................................................................................................................. 1 ROBOT PACKAGE ........................................................................................................................................ 1 Basic Components (all shipments).......................................................................................................... 1 Optional Components and Attachments (partial list) ...........
ActivMedia Robotics STARTING UP CLIENT AND SERVER ...........................................................................................................24 Drive Self-Test.......................................................................................................................................24 Client Server Connection ......................................................................................................................24 Demo Startup Options ................................
AROSCF ................................................................................................................................................... 54 STARTING AROSCF................................................................................................................................... 54 CONFIGURING AROS OPERATING PARAMETERS ...................................................................................... 55 Interactive Commands .......................................................
ActivMedia Robotics Chapter 1 Introduction Congratulations on your purchase and welcome to the rapidly growing community of developers and enthusiasts of ActivMedia Robotics’ intelligent mobile robots. Figure 1. Pioneer Mobile Robots first This Pioneer 3 & Pioneer 2 H8-Series appeared commercially in 1995.
Congratulations Global Positioning System Heading-correction gyro Compass Bumper rings Serial cables for external connections Many more… User-Supplied Components / System Requirements Client PC: 586-class or later PC with Microsoft Windows© or RedHat© Linux OS One RS-232-compatible serial port or Ethernet Four megabytes of available hard-disk storage ADDITIONAL RESOURCES New ActivMedia Robotics customers get three additional and valuable resources: A private account on our support Internet website for down
ActivMedia 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 inquiries to issues concerning the operation and programming of Pioneer or PeopleBot robots.
What is Pioneer? Chapter 2 What Is Pioneer? Figure 2. ActivMedia Robots Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 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.
ActivMedia Robotics ActivMedia robots, including Pioneer 3, Performance PeopleBot, and PowerBot, use a multifunctional Hitachi H8S-based microcontroller and new ActivMedia Robotics Operating System (AROS) software.2 The newest Pioneer 3 and 2 Plus platforms also sport an advanced motor-power board for high-power motor drives and systems power.
What is Pioneer? AT8 Plus now come with a lower motor-gearhead reduction for faster speeds, even with much-improved turning power. CLIENT SOFTWARE All ActivMedia robots operate as the server in a client-server environment: Their controllers handle the low-level details of mobile robotics, including maintaining the platform’s drive speed and heading over uneven terrain, acquiring sensor readings, such as the sonar, and managing attached accessories like the Gripper.
ActivMedia Robotics What’s more, it comes with source code so that you may examine the software and modify it for your own sensors and applications. Saphira Saphira, including the Colbert language, is a full-featured robotics control environment developed at SRI International’s Artificial Intelligence Center. Saphira and its ARIA foundation form the robotics-control and applications-development foundation for most ActivMedia robot owners and users.
What is Pioneer? Pioneer 1 and AT Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 had solid rubber tires and a twowheel differential, reversible drive system with a rear caster for balance. The Pioneer 1 came standard with seven sonar range finders (two side-facing and five forward-facing) and integrated wheel encoders. Figure 5.
ActivMedia Robotics performance 20 MHz Siemens 88C166-based microcontroller, with independent motor/ power and sonar-controller boards for a versatile operating environment. The controller had two RS232-standard communications ports and an expansion bus to support the many accessories available for your ActivMedia robot, as well as your own custom attachments.
What is Pioneer? MODES OF OPERATION You may operate your Pioneer 2 and 3 robots in one of five modes: Server Joydrive Self-test Maintenance Standalone Server Mode The Pioneer H8S microcontroller comes with fully programmable 128K FLASH and 32K dynamic RAM included in its Hitachi 18 MHz H8S/2357 microprocessor. An additional 512K of dynamic RAM or FLASH-ROM is available as optional equipment. But we don't recommend that you start learning H8S programming.
ActivMedia Robotics Chapter 3 Specifications & Controls ActivMedia’s Pioneer robots may be smaller than most, but they pack an impressive array of intelligent mobile robot capabilities that rival bigger and much more expensive machines. For example, the Pioneer 3-DX with onboard PC is a fully autonomous intelligent mobile robot.
Specifications and Controls MAIN COMPONENTS ActivMedia robots are composed of several main parts: Deck Motor Stop Button User Control Panel Body, Nose, and Accessory Panels Sonar Array(s) Motors, Wheels, and Encoders Batteries and Power Deck Figure 10. Components of the Pioneer 3 The original Pioneer 2-DX, CE, and AT decks are one piecethe top plate of the robot.
ActivMedia Robotics User Control Panel The User Control Panel is where you have access to the AROS-based onboard microcontroller. Found inside the AT’s hinged access panel on the deck or on the leftside panel of the DX, it consists of control buttons and indicators, and an RS232compatible serial port with a 9-pin DSUB connector. The red PWR LED is lit whenever main power is applied to the robot. The green STAT LED state depends on the operating mode and other conditions.
Specifications and Controls To engage AROS maintenance mode, press and hold the white MOTORS button, press and release the red RESET button, then release MOTORS. In the future, the white MOTORS button may engage other modes, such as when in AROS standalone mode. Body, Nose, and Accessory Panels Your ActivMedia robot’s sturdy, but lightweight aluminum body houses the batteries, drive motors, electronics, and other common components, including the front and rear sonar arrays.
ActivMedia Robotics Each sonar array comes with its own driver electronics for independent control. Each array’s sonar are multiplexed; the sonar acquisition rate is adjustable, normally set to 25 Hz (40 milliseconds per sonar per array). Sensitivity ranges from ten centimeters (six inches) to over four meters, depending on the ranging rate. You may control the sonar’s firing pattern through software, too; the default is left-to-right in sequence 0 to 7 for each array.
Specifications and Controls and slide each battery out of its bay. Spring contacts on the robot’s battery power board alleviate the need for manually attaching and detaching power cables or connectors. Balance the batteries in your robot. Battery life, of course, depends on the configuration of accessories and motor activity. AT charge life typically ranges from two to three hours. The DX runs continuously for six hours or more; up to four hours with onboard computer.
ActivMedia Robotics DOCKING/CHARGING SYSTEM The Pioneer 3/PeopleBot docking/charging accessory is both a manual and an automated mechanism. Onboard controls, triggered either by the DEPLOY CHARGER button near the manual CHARGE port, or by H8S controller-mediated client commands, deploy actuated contacts on the bottom of the robot, which in turn seat onto the charging platform.
Specifications and Controls mechanism. And the charging mechanism will not activate until you disengage the motors, either manually or programmatically. RADIO CONTROLS AND ACCESSORIES All ActivMedia robots are servers in a client-server architecture. You supply the client computer to run your intelligent mobile-robot applications. The client can be either an onboard piggy-back laptop or embedded PC, or an offboard PC connected through radio modems or wireless serial Ethernet.
ActivMedia Robotics ONBOARD PC Unlike the original Pioneer 1, Pioneer 2 and 3 robots are designed to support an onboard, internally integrated PC for fully autonomous operation. Mounted just behind the nose of the robot, the PC is a common EBX form-factor that comes with up to four serial ports, 10/100Base-T Ethernet, monitor, keyboard, and mouse ports, two USB ports, and support for floppy, as well as IDE hard-disk drives.
Specifications and Controls The controls and ports use common connectors: standard monitor DSUB and PS/2 connectors on the mouse and keyboard. The Ethernet is a 10/100Base-T standard RJ-45 socket. The ON/OFF slide switch directly controls power to the onboard PC—through Main Power, unlike some earlier versions of the onboard system which included a delayed power shutdown. The PWR LED lights when the computer has power. The HDD LED lights when the onboard hard-disk drive is active.
ActivMedia Robotics 802.11b-compatible wireless Ethernet card in one of its slots. antenna sits atop the top deck. The wireless Ethernet To complete the wireless installation, you will need to provide an Access Point module (comes as an accessory with most units). Attach the Access Point to one of your LAN hubs or switches with a standard CAT5 100Base-T cable. No configuration required. We use the default operating mode: “managed” client-server.
Specifications and Controls below safe operating level of ~11 VDC.10,11 Genpowerd running 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 the shutdown may be canceled by raising the battery voltage, such as by attaching a charger. Genpowerd monitors the HOST serial RI port on /dev/ttyS0. Windows’ ups.exe requires a dedicated serial port—COM2 on current systems, and prefers to monitor the CTS line.
ActivMedia Robotics Chapter 4 Quick Start This chapter describes how to quickly set up and operate your new ActivMedia robot with the ARIA demonstration software. For more details about programming and operating your ActivMedia mobile robot with ARIA, Saphira, or other client software, see their respective programming manuals. PREPARATIVE ASSEMBLY Your ActivMedia robot comes fully assembled and ready for out-of-the-box operation.
Quick Start Install Batteries Out of the box, your ActivMedia robot comes with its batteries fully charged, although shipped separately, unless you have the automated docking/charging system. For most models, slide one or up to three batteries into robot’s battery box through the back door. Balance them: one in the center; if two, then one on each side. Client-Server Communications Your robot requires a serial communication link with a client PC for operation.
ActivMedia Robotics needed), by starting and testing the robot, and by connecting the client PC with the AROS controller via a serial link. Now it is time to connect the ARIA demonstration program with your robot. If you are using radio modems or the new Low-Speed Ethernet-to-serial device to communicate wirelessly from a desktop PC to the robot controller, now is a good time to power the units. The RADIO power switch for the integrated radio is on the User Control Panel.
Quick Start A Successful Connection ARIA prints out lots of diagnostic text as it negotiates a connection with the robot. If successful, the client requests various AROS servers to start their activities, including sonar polling, position integration, and so on. The microcontroller Table 2.
ActivMedia Robotics as a demonstration tool, but as a diagnostic one, as well, if you suspect a sensor or effector has failed or is working poorly. Access each ARIA demo mode by pressing its related hot-key;‘t’, for instance, to select teleoperation. Each mode includes onscreen instructions and may have sub-menus for operating of the respective device. DISCONNECTING When you finish, press the Esc key to disconnect the ARIA client from your robot server and exit the ARIA demonstration program.
Quick Start To test for range limits, simply pick up the robot and move it closer to the basestation radio modem or access point. If the robot was out of range, the connection should resume. If not, check to make sure that radio modems were not inadvertently switched OFF. Communications also will fail if the client and/or server is somehow disabled during a session. For instance, if you inadvertently switch off the robot’s Main Power or press the RESET button, you must restart the connection.
ActivMedia Robotics Chapter 5 Joydrive and Self-Tests Although not all models come standard with a joystick port, your robot’s H8S-based controller has a joystick connector and AROS contains a joydrive server for manual operation.13 And AROS comes with a short self-test routine for your robot’s drive system. To run in either joydrive or self-test mode, start up or RESET the robot into its AROS wait state. You may press the RESET button at any time to disable self-test and joydrive modes.
Joydrive and Self Tests ENGAGING SELF-TESTS To enable self-test mode, press the white MOTORS button twice after 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 ActivMedia robot’s drive motors. During this test, the robot is not at all conscious of bystanders.
ActivMedia Robotics Chapter 6 ActivMedia Robotics Operating System All ActivMedia robots use a client-server mobile robot-control architecture originally developed at SRI International, Inc. and Stanford University. In the model, the robot’s controller servers work to manage all the lowlevel details of the mobile robot’s systems.
ActivMedia Robotics Operating System always first. Some data are strings of up to a maximum 200 bytes, prefaced by a length byte. Unlike common data integers, the two-byte checksum appears with its mostsignificant byte first (opposite order). Packet Checksum Calculate the PSOS/P2OS/AROS client-server packet checksum by successively adding data byte pairs (high byte first) to a running checksum (initially zero), disregarding sign and overflow.
ActivMedia Robotics SERVER INFORMATION PACKETS Like its PSOS and P2OS predecessors, AROS automatically and repeatedly 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 operating states and readings, using the order and data types described in the nearby Table. Table 3.
ActivMedia Robotics Operating System CLIENT COMMANDS AROS has a structured command format for receiving and responding to directions from a client for control and operation of your ActivMedia robot or the simulator. Client commands are comprised of a one-byte command number optionally followed, if required by the command, by a one-byte description of the argument type and then the argument value. Table 4.
ActivMedia Robotics DCHEAD 22 sint SETRA 23 sint SONAR 28 int STOP DIGOUT 29 30 none 2 bytes VEL2 32 2 bytes GRIPPER 33 int ADSEL 35 int GRIPPERVAL 36 int GRIPREQUEST 37 none IOREQUEST 40 none PTUPOS 41 2 bytes TTY2 42 string GETAUX 43 int BUMP_STALL 44 int TCM2 45 int DOCK 46 int JOYDRIVE 47 int SONAR_CYCLE 48 50 int int E_STOP 51 52 55 int int none M_STALL 56 int LEDGE 57 int STEP 64 none TTY3 66 string HOSTBAUD AUX1BAUD AUX2BAUD 16 He
ActivMedia Robotics Operating System to AUX2 H8S serial port GETAUX2 67 int CHARGE int int ROTKP 68 70 81 82 ROTKV 83 int ROTKI 84 int TRANSKP 85 int TRANSKV 86 int TRANSKI 87 int REVCOUNT 88 int PLAYLIST 91 92 25 0 none int int ARM SOUNDTOG SHUTDOWN int Request to retrieve 1-200 bytes from the AUX2 H8S serial port; 0 flushes the buffer. 1 to deploy autocharging mechanism; 0 to retract Arm-related commands; see manual for details 1.1 – – 1.7 1.
ActivMedia Robotics Autoconfiguration (SYNC2) AROS automatically sends robot configuration information back to the client following the last synchronization packet (SYNC2). The configuration values are three NULLterminated strings that comprise the robot’s FLASH-stored name, class, and subclass. You may uniquely name your ActivMedia robot with the FLASH configuration tool we provide. The class and subclass are constants normally set at the factory and not changed thereafter. (See next chapter for details.
ActivMedia Robotics Operating System With AROS versions 1.3 and later, many of the controller’s operating parameters return to their FLASH-based default values upon disconnection with the client.
ActivMedia Robotics ActivMedia Robots in Motion ActivMedia robots use position, as opposed to velocity, motion controls to translate the platform a certain distance and turn it to a particular heading. To achieve constant translational (VEL), rotational (ROTATE), or independent-wheel (VEL2) velocities, the servers simply set the target position well ahead of the robot’s current position.
ActivMedia Robotics Operating System At the same time, AROS reports back to the client in the standard SIP the robot’s position and speed. Not all robots convert these values into platform-independent units. ARIA and Saphira clients rely on conversion factors found in your robot’s respective “.p” parameter file to make the necessary conversion. So when you tell the robot to move a certain number of millimeters forward, measure its actual travel with a meter tape and adjust ticksmm accordingly.
ActivMedia Robotics Consequently, we typically use a minimum value for Ki in the range of 0 to 10 for lightly to heavily loaded robots respectively. Position Integration ActivMedia robots, including Pioneer 2s and 3s, track their position and orientation based on dead-reckoning from wheel motion derived from encoder readings. The robot maintains its internal coordinate position in platform-dependent units, as reported in the standard SIP (Xpos, Ypos, and Thpos).
ActivMedia Robotics Operating System sonar array number one; numbers nine through 16 get added to the sequence for sonar array number two; 17-24 specify the sequence for array three; and 25-32 are for array four. You may include up to 16 sonar numbers in the sequence for any single array. Only those arrays whose sonar numbers appear in the argument get re-sequenced. You may repeat a sonar number two or more times in a sequence.
ActivMedia Robotics Normally enabled (default was disabled in P2OS), change E_STALL by sending the AROS command #56. With argument of zero, E_STALL gets disabled. An argument value of one re-enables E_STALL. ACCESSORY COMMANDS AND PACKETS Several types of alternative server information packets (SIPs) come with AROS to better support the ActivMedia Robotics community.
ActivMedia Robotics Operating System P2MPACS STALLVAL STALLCOUNT byte int int JOYVEL JOYRVEL ROTVELMAX TRANSVELMAX ROTACC ROTDECEL ROTKP int int int int int int int int ROTKV int ROTKI int TRANSACC int TRANSDECEL int TRANSKP int TRANSKV int TRANSKI ADDED IN AROS 1.6 byte FRONTBUMPS byte REARBUMPS ADDED IN AROS 1.7 CHARGER byte ADDED IN AROS 1.8 byte SONARCYCLE byte AUTOBAUD byte HASGYRO received a command from a client. Restarts on restoration of connection. 1 enables alternative SIP.
ActivMedia Robotics For auto-baud, the HOST serial port automatically reverts to its FLASH default baud rate if, after being reset by the HOSTBAUD client command, it does not receive a subsequent and valid client-command packet within 500 milliseconds. HOST-to-AUX Serial Transfers Use the client-side TTY2 command #42 with a string argument to have that string sent out the AUX1 port to the attached serial device, such as a robotic camera.
ActivMedia Robotics Operating System Table 11.
ActivMedia Robotics Onboard PC Communication between 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 match the PC client-software’s serial port rate. Beginning with AROS version 1.6, the RI pin 9 on the HOST port initializes to low and goes high when the batteries discharge to below 11 VDC.
ActivMedia Robotics Operating System modifications to the robot's heading are done on the client side, as supported in the latest versions (1.3 and later) of ARIA. To enable the gyro, you must set the HasGyro FLASH parameter to 1 using the AROScf tool (see next chapter). Set it to 0 if the gyro isn't attached. Then to acquire gyro data, send the GYRO client command #58 with integer argument of one; zero disables the gyro SIP. The gyro SIP is stopped upon client disconnection or controller reset, too.
ActivMedia Robotics For example, here’s the AROS client command to set digital output ports 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 16 digital input ports, normally used for the bumper accessory, but also available for your own attachments. See Appendix A for connector details.
ActivMedia Robotics Operating System Expansion I/O Four alternative A/D ports appear at the 40-position Expansion I/O connector of the H8S microcontroller.24 Use the ADSEL client command number 35 to select and subsequently have the A/D value from one of the alternative ports AN2-5 appear in the standard SIP. The default port is AN0 (ADSEL argument value of zero), the A/D port also on the User I/O connector.
ActivMedia Robotics disengage the motors while charging, such as by disconnecting, you will have to reengage them from the client or by manually pressing the MOTORS button on the controller. Re-engaging the motors automatically retracts the charging mechanism. While the motors are engaged, the charging mechanism cannot be deployed, except by the CHARGE command.
ActivMedia Robotics Operating System The "overcharge" bit ID7 is set (1) when the batteries are well below full charge and the charger is at full charging current. During this bulk-charging period, the battery voltage rises to around 13.8-14V. The overcharge bit ID7 then drops to low (0) while the batteries charge from approximately 80% to 90% of full charge: from ~13.8 to 14.7V. The charger then reverts to "float mode", maintaining full charge at much lower current and charger voltage (~13.5V).
ActivMedia Robotics Chapter 7 Updating & Reconfiguring AROS The AROS software and a set of operating parameters for your ActivMedia robot get stored in the H8S microcontroller's FLASH ROM. With special upload and configuration software tools, you change and update the FLASH memory image. No hardware modification is required. WHERE TO GET AROS SOFTWARE Your ActivMedia robot comes preinstalled with the latest version of AROS.
Updating and Reconfiguring AROS Text prompts will help you get connected with your ActivMedia robot’s H8S-based controller and update its AROS servers. No fuss. No muss. AROSCF The AROS update and configuration program, AROScf, is part of a collection of utilities and files for comprehensive management of your ActivMedia robot’s onboard servers and FLASH-based operating parameters.
ActivMedia Robotics Similarly, this Linux xterm command uploads a fresh copy of AROS to your robot’s H8Sbased microcontroller and then exits, much like the simple dl_AROS1_0 program: % ./AROScf –d AROS1_0.hex –n -b Table 15.
Updating and Reconfiguring AROS See the respective control command and parameter Tables nearby for a full description of AROScf operation. Table 16. AROScf control commands COMMAND KEYWORD DESCRIPTION Alone, a keyword displays current, edited value. Add argument to change current value. c or constants Display all edit these. v or variables Display all variable parameter values which you may edit and eventually save to your robot’s FLASH.
ActivMedia Robotics Table 17. AROS FLASH configuration parameters with values for Pioneer 3–DX KEYWORD Type Default CONSTANTS str str str str int int int int int Pioneer P3DX factory 1.
Updating and Reconfiguring AROS ROTKP ROTKV ROTKI TRANSACC TRANSDECEL TRANSKP TRANSKV TRANSKI JOYVELMAX JOYRVELMAX int int int int int int int int int int 30 200 0 300 300 15 450 4 1000 50 Proportional PID for rotation Differential PID for rotation Integral PID for rotation Translational acceleration; mm/sec2 Translational deceleration; mm/sec2 Proportional PID for translation Differential PID for translation Integral PID for translation Joydrive maximum translation velocity Joydrive maximum rotational v
ActivMedia Robotics Ticksmm and revcount affect only the conversion of your motion command arguments into platform-dependent values. Your client must independently convert values reported back from the server, such as X-Pos and Th, into platform-independent values. ARIA clients use the conversion factors found in your robot’s respective ARIA\params file (p3dx.p, for example).
Updating and Reconfiguring AROS Set the FrontBump and RearBump parameters to the number of bumper segments for the front and rear bumpers, repectively; or to 0 if you don't have a particular bumper. For pre-AROS 1.6 robots, you don't need to set these values to have them work with AROS 1.6.
ActivMedia Robotics Chapter 8 Maintenance & Repair Your ActivMedia robot is built to last a lifetime and requires little maintenance. TIRE INFLATION Maintain even tire inflation for proper navigation of your Pioneer 3 or 2 robot. We ship with each pneumatic tire inflated to 23 psi. If you change the inflation, remember to adjust the ticksmm and revcount FLASH values. DRIVE LUBRICATION Pioneer 3 and 2 drive motors and gearboxes are sealed and self-lubricating, so you need not fuss with grease or oil.
Maintenance and Repair to the charger and insert it into the charge socket that is just below your robot’s Main Power switch. The LEDs on the charger indicate charge status, as marked on its case. It takes fewer than 12 hours—often just a few hours, depending on the level of discharge—to fully charge a battery using the accompanying charger (roughly, three hours per volt per battery). Although you may operate the robot while recharging, it restricts the robot’s mobility.
ActivMedia Robotics Remove the small plastic plug which is near the hinge on the top plate and near the edge by the wheel. Under it, you will see the head of a large hex bolt. This bolt tightens (clockwise) or loosens (counter-clockwise) the drive belt for that side of the robot. Turn it using a 5mm hex key probably not more than 1 full rotation. Avoid over tightening. Test to make sure that it is tight enough by holding the wheel while running the self test.
Maintenance and Repair Figure 22. Remove indicated screws from Pioneer 2- or 3-DX or -AT rear deck to open plate. Careful: The computer’s hard-drive, fan, and speaker have attached wire harnesses that you need to relieve before completely detaching the nose from the body. We recommend unplugging the speaker wire and simply rotating the nose out of the way to access the onboard computer.
ActivMedia Robotics Appendix A H8S PORTS & CONNECTIONS This Appendix contains pinout and electrical specifications for the external and internal ports and connectors on the H8S microcontroller, motor-power interface, and User Control boards. Figure 23. Mini- and micro-fit style connector numbering Note that layered connectors are numbered differently, depending on the socket type. IDC ones are odd and even layers; mini- and micro-fit connectors use successive-position numbering.
Appendix A: Ports and Connections Serial Ports Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxiliary serial ports for the H8S controller. All are RS-232 compatible. The HOST port is shared on both the User Control Panel as well as on the H8S controller board and is for AROS clientserver and maintenance connections.
ActivMedia Robotics 9 ID4 11 ID5 13 ID6 15 ID7 17 *AN0 19 Vpp Lift direction DIGIN bit 4; Left paddle contact Inner breakbeam IR DIGOUT bit 4; Automated docking/charging “inhibit” DIGOUT bit 5; Automated docking/charging “deploy” DIGOUT bit 6; User only 10 OD4 DIGIN bit 5; Right paddle contact 12 OD5 DIGIN bit 6; Automated docking/charging ”power good” DIGIN bit 7; Automated docking/charging ”overcharge” A/D port 0 (default) (0-5VDC = 0-255) Battery 12VDC < 1A 14 OD6 16 OD7 DIGOUT bi
Appendix A: Ports and Connections Table 24. Bumper ports (10-pos latching IDC) PIN SIGNAL 1 3 5 7 9 BP0 BP2 BP4 BP6 Gnd DESCRIPTION Bumper bit Bumper bit Bumper bit Bumper bit Common 0 2 4 6 PIN SIGNAL 2 4 6 8 10 BP1 BP3 BP5 BP7 Gnd DESCRIPTION Bumper bit Bumper bit Bumper bit Bumper bit Common 1 3 5 7 Bumper Ports Two 10-position latching IDC connectors provide general-purpose digital inputs, typically used for the robot’s bumpers. All inputs are buffered and pulled high (digital 1).
ActivMedia Robotics Joystick Port An 8-position microfit socket provides signal lines for connection to an analog joystick. Indicated lines (*) are shared on other connectors. Table 27.
Appendix B: Motor-Power Board Connectors Appendix B Power Distribution ActivMedia Robotics’ original H8S-based Pioneer 2 robots have two separate boards which interface with the H8S microcontroller and provide power for the motors as well as conditioned power and signal paths for the standard and accessory onboard electronics. The new Plus-series Pioneer 2 robots and the Pioneer 3s have just a single Motor-Power Board. Consult Appendix A for H8S-controller and User Control Panel interface details.
ActivMedia Robotics Table 28. Motor Temperature Sensors Connector (4-pos microfit) PIN SIGNAL DESCRIPTION 1 2 3 4 Vcc T2 T1 GND 5 VDC To AN2-based temp sensor circuit To AN1-based temp sensor circuit Signal/power common Otherwise, a jumper across R76 connects the AN1 port to the Fan Sensor system that is attached to the FET heat sink.
Appendix B: Motor-Power Board Connectors Table 32. User Power connector (12-pos latchlock; unswitched) PIN CONNECTION PIN CONNECTION 1 2 3 4 5 6 Vcc Gnd Vpp Vcc Gnd Vpp 7 8 9 10 11 12 Vcc Gnd Vpp Vcc Gnd Vpp IR Signal and Power Originally available on the Motor-Power Interface Board and now integrated on the new Motor-Power board, four connectors provide power and signal for fixed-range IR sensors. A separate connector provides signal path for an additional four IR sensors. Table 33.
ActivMedia Robotics Appendix C RADIO MODEM SETTINGS The radio modem-based wireless serial accessory comes pre-configured for use with your ActivMedia robot for client-server connections. One modem comes installed in the robot (robot’s HOST serial port pins 7 and 8 jumpered; powered 5 VDC from RADIO switch). All you need to do is attach the other radio modem to a free serial port on your PC and provide power—no other setup is required.
Appendix D: Serial Ethernet Settings Appendix D SERIAL ETHERNET SETTINGS The Ethernet-to-Serial device settings are made at the factory and stored in FLASH. Pressing and holding the test button for more than five seconds restores those settings. Server name: AMR-EW-1 Wireless SSID: WaveLAN Network Mode: Infrastructure Speed: 1 Mbps TCP/IP Address: 192.168.1.11 (.12, .13, … for successive units on a single order) Gateway: 192.168.1.1 Subnet mask: 255.255.255.
ActivMedia Robotics 2. Attach a cross-over serial cable between your PC and the serial port on th e device 3. Start minicom (Linux), HyperTerminal (Windows) or comparable serial console on your PC 4. Serial settings are 115,200 baud, 8 bits, one stop, no parity and hardware handshaking. 5. Hold in the test button and power the device 6. Press the Return key to get the Local> prompt 7. Type: 8. set ip address aa.bb.cc.dd 9. set ip router aa.bb.cc.dd 10. set ip subnet aa.bb.cc.dd 11. save 12. init 13.
Appendix D: Serial Ethernet Settings Appendix E SPECIFICATIONS 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) 5.1 6.5 6.5 5.5 3.5 3.
ActivMedia 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 76,600 39,400 counts/mm counts/rotation 66 128 49 128 148 76 18,400 33,500 22,500 33,500 39,000 18,400 Optional Optional
Warranty & Liabilities Your ActivMedia robot is fully warranted against defective 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 the robot is allowed to tumble or fall off a ledge, or if it is overloaded with heavy objects.
19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax http://www.mobilerobots.
