用户手册目录Introduction7Robot Package7Basic Components (all shipments)7Optional Components and Attachments (partial list)7User-Supplied Components / System Requirements8Additional Resources8Software8Newsgroups8Support9What Is Pioneer?10Client Software10ActivMedia Robotics Basic Suite11ARIA12Saphira12The Pioneer Legacy13Pioneer 113Pioneer 2 and PeopleBot13Modes of Operation15Specifications & Controls16Physical Characteristics16Main Components16Deck(s) and Console17Body, Nose, and Accessory Panels18Sonar Arrays with Gain Adjustment19Motors and Position Encoders20Batteries and Power20Electronics20Motor-Power Board21Microcontroller21Sonar Boards21Controls, Ports, and Indicators21Main Power, Fuse, and Indicator21Recharge/Power Port21Liquid-Crystal Display & Contrast Adjustment22RESET and MOTORS22SERIAL23RADIO23FLASH23PeopleBot Sensors and Emergency STOP24Pioneer 2 Arm-related SIPs and Commands24Safety Watchdogs and Configuration24Quick Start25Preparative Assembly25Saphira Client Installation25Saphira Client Start-Up26Robot Cold Start-Up26RADIO ON27Starting Client-Server Communications27A Successful Connection27Operating the Saphira Demonstration Client28Disconnecting Serial Communications (intentionally or unintentionally)29Quickstart Troubleshooting29Joydrive and Self-Tests31Joystick Connection31Joydrive Operation31Engaging Self-Tests32Motors Test32Sonar Test33Bumpers33Gripper33Compass33DIGIN and DIGOUT Test34ANALOG Tests34User PWMs34Pioneer 2 Operating System35Communication Packet Protocol35Packet Data Types36Packet Checksum36Packet Errors36Server Information Packets38Client Commands38Client Command Argument Types40Saphira Client Command Support41Programming P2OS41Establishing a Client-Server Connection—SYNC41Autoconfiguration41Opening the Servers—OPEN41Keeping the Beat—PULSE42Closing the Connection—CLOSE42Movement Commands42Pioneer in Motion43PID Controls43Position Integration44Sonar44BUMP_STALL45E_STOP and E_STALL45Extended Packets46Packet Processing46CONFIGpac and CONFIG Command46SERAUXpac and GETAUX47ENCODERpac and ENCODER Command48GRIPPERpac and GRIPREQUEST48PLAYLISTpac and PLAYLIST Command48TCM2pac and TCM2 Command49Input / Output (I/O)49DIGIN, TIMER, and ADSEL49DIGOUT and PSUPOS50IOpac and IOREQUEST50Pioneer 2 Arm-related SIPs and Commands51Performance PeopleBot IRs51Updating & Reconfiguring P2OS52Where to Get P2OS Software52Installing the P2OS Utilities52Updating P2OS52Step 1. Serial Connection from Computer to Robot52Step 2: Enable FLASH53Step 3: Put Microcontroller into Download Mode53Step 4: Run p2osdl53Download Troubleshooting53Configuring P2OS Operating Parameters54Steps 1–3: Preparing for Configuration54Step 4: Run p2oscf54Step 5: Changing Configuration Parameters54Step 6: Save Your Work55Editing P2OS Parameters55Saving and Restoring56Arm Parameters56PID Parameters58Encoder and Revcount58Calibration Tools - revcountcal and compasscal59Maintenance & Repair61Drive Lubrication61Batteries61Changing Batteries61Hot-Swapping the Batteries61Charging the Battery61Alternative Battery Chargers62Getting Inside62Removing the Nose62Opening the Deck63Factory Repairs63Appendix A65Internal Serial Connectors66User I/O Expansion Port66Performance PeopleBot I/O67The General I/O Bus68Appendix B69User Power Connections69Onboard Computer Option69Power Switch (J7) and Delayed Shutdown Logic69Power-State Logic70Computer Power70Appendix C71Joystick Connector71Appendix D72Specifications72Index74Warranty & Liabilities76文件大小: 2.3 MB页数: 78Language: English打开用户手册