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Table of Contents
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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