Pioneer 2TM - Manual (Page 4)

Table of Contents
CHAPTER 1 INTRODUCTION................................................................................................................. 1
R OBOT P ACKAGE ........................................................................................................................................ 1
Basic Components (all shipments).......................................................................................................... 1
Optional Components and Attachments (partial list) ............................................................................. 1
User-Supplied Components / System Requirements ............................................................................... 2
A DDITIONAL R ESOURCES ............................................................................................................................ 2
Support Website...................................................................................................................................... 2
Newsgroups ............................................................................................................................................ 2
Support ................................................................................................................................................... 3
CHAPTER 2 WHAT IS PIONEER? .......................................................................................................... 4
P IONEER R EFERENCE P LATFORM ................................................................................................................ 4
P IONEER F AMILY OF M ICROCONTROLLERS AND O PERATING S YSTEM S OFTWARE ...................................... 4
H ITACHI H8S- BASED M ICROCONTROLLER .................................................................................................. 5
P LUS M OTOR -P OWER B OARD ..................................................................................................................... 5
C LIENT S OFTWARE ...................................................................................................................................... 6
ARIA ....................................................................................................................................................... 6
Saphira ................................................................................................................................................... 7
Laser Navigation and Localization......................................................................................................... 7
S UPPORTING S OFTWARE .............................................................................................................................. 7
Simulator ................................................................................................................................................ 7
Mapper ................................................................................................................................................... 7
T HE P IONEER L EGACY ................................................................................................................................. 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
M ODES OF O PERATION .............................................................................................................................. 10
Server Mode.......................................................................................................................................... 10
Maintenance and Standalone Modes.................................................................................................... 10
Joydrive and Self Test Modes ............................................................................................................... 10
CHAPTER 3 SPECIFICATIONS & CONTROLS ................................................................................. 11
P HYSICAL C HARACTERISTICS .................................................................................................................... 11
M AIN C OMPONENTS .................................................................................................................................. 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
B ATTERIES AND P OWER ............................................................................................................................ 15
Battery Indicators and Low Voltage Conditions................................................................................... 16
Recharging ........................................................................................................................................... 16
D OCKING /C HARGING S YSTEM ................................................................................................................... 17
Manual Operation (Robot Power OFF) ............................................................................................... 17
Manual Operation (Robot Power and Systems ON)............................................................................. 17
R ADIO C ONTROLS AND A CCESSORIES ....................................................................................................... 18
O NBOARD PC ............................................................................................................................................ 19
Computer Control Panel....................................................................................................................... 19
Operating the Onboard PC .................................................................................................................. 20
PC Networking ..................................................................................................................................... 20
UPS and Genpower .............................................................................................................................. 21
S AFETY AROS W ATCHDOGS .................................................................................................................... 22
CHAPTER 4 QUICK START................................................................................................................... 23
P REPARATIVE A SSEMBLY .......................................................................................................................... 23
Install ARIA .......................................................................................................................................... 23
Install Batteries..................................................................................................................................... 24
Client-Server Communications............................................................................................................. 24
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