ユーザーズマニュアル目次Introduction7Robot Package7Basic Components (all shipments)7Optional Components and Attachments (partial list)7User-Supplied Components / System Requirements8Additional Resources8Support Website8Newsgroups8Support9What Is Pioneer?10Pioneer Reference Platform10Pioneer Family of Microcontrollers and Operating System Software10Hitachi H8S-based Microcontroller11Plus Motor-Power Board11Client Software12ARIA12Saphira13Laser Navigation and Localization13Supporting Software13Simulator13Mapper13The Pioneer Legacy13Pioneer 1 and AT14Pioneer 2 and PeopleBot14New Pioneer 3 and Recent Pioneer 2-DX8, -AT8, and Plus Mobile Robots15Modes of Operation16Server Mode16Maintenance and Standalone Modes16Joydrive and Self Test Modes16Specifications & Controls17Physical Characteristics17Main Components18Motor Stop Button18User Control Panel19Body, Nose, and Accessory Panels20Sonar Arrays with Gain Adjustment20Motors, Wheels, and Position Encoders21Batteries and Power21Battery Indicators and Low Voltage Conditions22Recharging22Docking/Charging System23Manual Operation (Robot Power OFF)23Manual Operation (Robot Power and Systems ON)23Radio Controls and Accessories24Onboard PC25Computer Control Panel25Operating the Onboard PC26PC Networking26UPS and Genpowerd27Safety AROS Watchdogs28Quick Start29Preparative Assembly29Install ARIA29Install Batteries30Client-Server Communications30Starting Up Client and Server30Drive Self-Test30Client Server Connection30Demo Startup Options31A Successful Connection32Operating the ARIA Demonstration Client32Disconnecting33Quickstart Troubleshooting33Proper Connections33SRIsim34Joydrive and Self-Tests35Joydrive Mode35Engaging Self-Tests36ActivMedia Robotics Operating System37Client-Server Communication Packet Protocols37Packet Checksum38Packet Errors38Server Information Packets39Client Commands40The Client-Server Connection42Autoconfiguration (SYNC2)43Opening the Servers—OPEN43Keeping the Beat—PULSE43Closing the Connection—CLOSE43Motion Commands44ActivMedia Robots in Motion45Platform Dependent and Independent Variables45PID Controls46Position Integration47Sonar47Enable/Disabling Sonar47Polling Sequence and Rate47stalls and emergencies48Accessory Commands and Packets49Packet Processing49CONFIGpac and CONFIG Command50Serial port communications50Changing Baud Rates and Autobauding50HOST-to-AUX Serial Transfers51Encoder packets51Gripper packets51Sounds52TCM252Onboard PC53Heading Correction Gyro53Input Output (I/O)54User I/O54Bumper and IR I/O55IO packets55Expansion I/O56Docking/Charging System I/O56Digital Port Controls56Docking/Charging Servers56Monitoring the Recharge Cycle57Updating & Reconfiguring AROS59Where to Get AROS Software59AROS Maintenance Mode59Simple AROS Updates59AROScf60Starting AROScf60Configuring AROS Operating Parameters61Interactive Commands61Changing Parameters61Save Your Work62PID Parameters62Ticksmm and Revcount64StallVal and StallCount65Bumpers65Maintenance & Repair67Tire Inflation67Drive Lubrication67Batteries67Changing Batteries67Hot-Swapping the Batteries67Charging the Batteries67Automated Docking/Charging System68Alternative Battery Chargers68Tightening the AT Drive Belt68Getting Inside69Removing the Nose69Opening the Deck70Factory Repairs70Appendix A71H8S Ports & Connections71H8S Microcontroller71Power Connector71Serial Ports72User I/O, Gripper, Docking/Charging Port72The Expansion I/O Bus73Bumper Ports74Motors, Encoders, and IR Sensors74User Control Interface74Joystick Port75Appendix B76Pioneer 3 and 2-Plus Motor-Power Board76Configuration for Current and Temperature Sensing76Controller Power and Interface77Radio, Auxiliary, and User Power Connectors77IR Signal and Power78Legacy Motor-Power78Appendix C79Radio Modem Settings79Appendix D80Serial Ethernet Settings80LAN IP Settings80Console mode:80Webpage81Peer-to-Peer Networking81Appendix E82Specifications82Warranty & Liabilities84サイズ: 3.4MBページ数: 85Language: Englishマニュアルを開く