Pioneer 2 / PeopleBot Mobile Platform Manuals

Pioneer 2 / PeopleBot Mobile Platform Manuals

Manuals and User Guides for Pioneer 2 / PeopleBot Mobile Platform. We have 1 Pioneer 2 / PeopleBot Mobile Platform manual available for free PDF download: Operation Manual

Pioneer 2 / PeopleBot Operation Manual

Pioneer 2 / PeopleBot Operation Manual (78 pages)

Pioneer 2 / PeopleBot Operations Manual

Brand: Pioneer | Category: Robotics | Size: 2.4 MB

Table of Contents

Table of Contents
4
Chapter 1 Introduction

7
- Robot Package
  7
- Additional Resources
  8
  - Software
    8
  - Newsgroups
    8
  - Support
    9
Chapter 2 What Is Pioneer

10
- Client Software
  10
  - Activmedia Robotics Basic Suite
    11
  - Aria
    12
  - Saphira
    12
- The Pioneer Legacy
  13
  - Pioneer 1
    13
  - Pioneer 2 and Peoplebot
    13
- Modes of Operation
  15
Chapter 3 Specifications & Controls

16
- Physical Characteristics
  16
- Main Components
  16
- Electronics
  20
  - Motor-Power Board
    21
  - Microcontroller
    21
  - Sonar Boards
    21
- Controls, Ports, and Indicators
  21
  - Main Power, Fuse, and Indicator
    21
  - Recharge/Power Port
    21
  - Liquid-Crystal Display & Contrast Adjustment
    22
  - RESET and MOTORS
    22
  - Serial
    23
  - Radio
    23
  - Flash
    23
- Peoplebot Sensors and Emergency STOP
  24
  - Pioneer 2 Arm-Related Sips and Commands
    24
- Safety Watchdogs and Configuration
  24
Chapter 4 Quick Start

25
Chapter 5 Joydrive and Self-Tests

31
- Joystick Connection
  31
- Joydrive Operation
  31
- Engaging Self-Tests
  32
- Motors Test
  32
- Motor Test
  32
- Sonar Test
  33
- Bumpers
  33
- Gripper
  33
- Compass
  33
- Digin and Digout Test
  34
- Analog Tests
  34
- User Pwms
  34
Chapter 6 Pioneer 2 Operating System

35
- Communication Packet Protocol
  35
  - Packet Data Types
    36
  - Packet Checksum
    36
  - Packet Errors
    36
- Server Information Packets
  38
- Client Commands
  38
  - Client Command Argument Types
    40
  - Saphira Client Command Support
    41
- Programming P2Os
  41
- Movement Commands
  42
  - Pioneer in Motion
    43
  - PID Controls
    43
  - Position Integration
    44
- Sonar
  44
- Bump_Stall
  45
- E_Stop and E_Stall
  45
- Extended Packets
  46
  - Packet Processing
    46
  - Configpac and CONFIG Command
    46
  - Serauxpac and GETAUX
    47
  - Encoderpac and ENCODER Command
    48
  - Gripperpac and GRIPREQUEST
    48
  - Playlistpac and PLAYLIST Command
    48
  - Tcm2Pac and TCM2 Command
    49
- Input / Output (I/O)
  49
  - DIGIN, TIMER, and ADSEL
    49
  - DIGOUT and PSUPOS
    50
  - Iopac and IOREQUEST
    50
  - Pioneer 2 Arm-Related Sips and Commands
    51
- Performance Peoplebot Irs
  51
Chapter 7 Updating & Reconfiguring P2Os

52
- Where to Get P2Os Software
  52
- Installing the P2Os Utilities
  52
- Updating P2Os
  52
- Configuring P2Os Operating Parameters
  54
- Editing P2Os Parameters
  55
- Saving and Restoring
  56
- Arm Parameters
  56
- Pid Parameters
  58
- Encoder and Revcount
  58
- Calibration Tools - Revcountcal and Compasscal
  59
Chapter 8 Maintenance & Repair

61
- Drive Lubrication
  61
- Batteries
  61
  - Changing Batteries
    61
  - Hot-Swapping the Batteries
    61
  - Charging the Battery
    61
  - Alternative Battery Chargers
    62
- Getting Inside
  62
  - Removing the Nose
    62
  - Opening the Deck
    63
- Factory Repairs
  64
Appendix A

65
- Internal Serial Connectors
  66
- User I/O Expansion Port
  66
- Performance Peoplebot I/O
  67
- The General I/O Bus
  68
Appendix B

69
- User Power Connections
  69
- Onboard Computer Option
  69
Appendix C

71
- Joystick Connector
  71
Appendix D

72
- Specifications
  72
- Index
  74
- Warranty & Liabilities
  76

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