Pioneer 3™Operations ManualwithNEW Renesas SH2-based Controller&ActivMedia’s Robot Control & Operations Software

ActivMedia Robotics Pioneer 3 Operation Manual

CHAPTER 1 INTRODUCTION

User-Supplied Components / System Requirements

Support

CHAPTER 2 WHAT IS PIONEER

H ITACHI H8S- BASED M ICROCONTROLLER

C LIENT S OFTWARE

Saphira

Pioneer 1 and AT

New Pioneer 3 and Recent Pioneer 2-DX8, -AT8, and Plus Mobile Robots

Server Mode

CHAPTER 3 SPECIFICATIONS & CONTROLS

Motor Stop Button

User Control Panel

Body, Nose, and Accessory Panels

Motors, Wheels, and Position Encoders

Battery Indicators and Low Voltage Conditions

Manual Operation (Robot Power OFF)

onboard PC

Operating the Onboard PC

UPS and Genpower

CHAPTER 4 QUICK START

Install Batteries

Demo Startup Options

A Successful Connection

D ISCONNECTING

SRIsim

CHAPTER 5 JOYDRIVE AND SELF-TESTS

CHAPTER 6 ACTIVMEDIA ROBOTICS OPERATING SYSTEM

Packet Checksum

S ERVER I NFORMATION P ACKETS

C LIENT C OMMANDS

Autoconfiguration (SYNC2)

M OTION C OMMANDS

ActivMedia Robots in Motion

PID Controls

Position Integration

STALLS AND EMERGENCIES

Packet Processing

CONFIGpac and CONFIG Command

HOST-to-AUX Serial Transfers

Sounds

Heading Correction Gyro

User I/O

Bumper and IR I/O

Expansion I/O

Monitoring the Recharge Cycle

CHAPTER 7 UPDATING & RECONFIGURING AROS

Interactive Commands

PID P ARAMETERS

T ICKSMM AND R EVCOUNT

B UMPERS

B ATTERIES

Automated Docking/Charging System

Removing the Nose

Opening the Deck

APPENDIX A

Serial Ports

The Expansion I/O Bus

Bumper Ports

Joystick Port

APPENDIX B

Controller Power and Interface

IR Signal and Power

APPENDIX C

APPENDIX D

Peer-to-Peer Networking

P HYSICAL C HARACTERISTICS

WARRANTY & LIABILITIES

Pioneer 3