Pioneer 3TM Robotics User Manual


 
AROSCF ................................................................................................................................................... 54
STARTING AROSCF................................................................................................................................... 54
CONFIGURING AROS OPERATING PARAMETERS ...................................................................................... 55
Interactive Commands.......................................................................................................................... 55
Changing Parameters........................................................................................................................... 55
SAVE YOUR WORK.................................................................................................................................... 56
PID PARAMETERS ..................................................................................................................................... 56
TICKSMM AND REVCOUNT ........................................................................................................................ 58
STALLVAL AND STALLCOUNT .................................................................................................................. 59
BUMPERS................................................................................................................................................... 59
CHAPTER 8 MAINTENANCE & REPAIR............................................................................................ 61
TIRE INFLATION ........................................................................................................................................ 61
DRIVE LUBRICATION................................................................................................................................. 61
BATTERIES ................................................................................................................................................ 61
Changing Batteries............................................................................................................................... 61
Hot-Swapping the Batteries.................................................................................................................. 61
Charging the Batteries.......................................................................................................................... 61
Automated Docking/Charging System.................................................................................................. 62
Alternative Battery Chargers................................................................................................................ 62
TIGHTENING THE AT DRIVE BELT............................................................................................................. 62
GETTING INSIDE ........................................................................................................................................ 63
Removing the Nose ............................................................................................................................... 63
Opening the Deck ................................................................................................................................. 64
FACTORY REPAIRS .................................................................................................................................... 64
APPENDIX A.............................................................................................................................................. 65
H8S PORTS & CONNECTIONS.................................................................................................................... 65
H8S MICROCONTROLLER.......................................................................................................................... 65
Power Connector.................................................................................................................................. 65
Serial Ports........................................................................................................................................... 66
User I/O, Gripper, Docking/Charging Port ......................................................................................... 66
The Expansion I/O Bus......................................................................................................................... 67
Bumper Ports........................................................................................................................................ 68
Motors, Encoders, and IR Sensors........................................................................................................ 68
User Control Interface.......................................................................................................................... 68
Joystick Port ......................................................................................................................................... 69
APPENDIX B.............................................................................................................................................. 70
PIONEER 3 AND 2-PLUS MOTOR-POWER BOARD....................................................................................... 70
Configuration for Current and Temperature Sensing........................................................................... 70
Controller Power and Interface............................................................................................................ 71
Radio, Auxiliary, and User Power Connectors .................................................................................... 71
IR Signal and Power............................................................................................................................. 72
LEGACY MOTOR-POWER........................................................................................................................... 72
APPENDIX C.............................................................................................................................................. 73
RADIO MODEM SETTINGS.......................................................................................................................... 73
APPENDIX D.............................................................................................................................................. 74
SERIAL ETHERNET SETTINGS..................................................................................................................... 74
LAN IP SETTINGS..................................................................................................................................... 74
Console mode:...................................................................................................................................... 74
Webpage ............................................................................................................................................... 75
Peer-to-Peer Networking...................................................................................................................... 75
APPENDIX E.............................................................................................................................................. 76
SPECIFICATIONS ........................................................................................................................................ 76
WARRANTY & LIABILITIES ................................................................................................................ 78
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