Pioneer 2TM - Manual (Page 6)

AROS CF ................................................................................................................................................... 54
S TARTING AROS CF ................................................................................................................................... 54
C ONFIGURING AROS O PERATING P ARAMETERS ...................................................................................... 55
Interactive Commands.......................................................................................................................... 55
Changing Parameters........................................................................................................................... 55
S AVE Y OUR W ORK .................................................................................................................................... 56
PID P ARAMETERS ..................................................................................................................................... 56
T ICKSMM AND R EVCOUNT ........................................................................................................................ 58
S TALL V AL AND S TALL C OUNT .................................................................................................................. 59
B UMPERS ................................................................................................................................................... 59
CHAPTER 8 MAINTENANCE & REPAIR............................................................................................ 61
T IRE I NFLATION ........................................................................................................................................ 61
D RIVE L UBRICATION ................................................................................................................................. 61
B ATTERIES ................................................................................................................................................ 61
Changing Batteries ............................................................................................................................... 61
Hot-Swapping the Batteries.................................................................................................................. 61
Charging the Batteries.......................................................................................................................... 61
Automated Docking/Charging System .................................................................................................. 62
Alternative Battery Chargers................................................................................................................ 62
T IGHTENING THE AT D RIVE B ELT ............................................................................................................. 62
G ETTING I NSIDE ........................................................................................................................................ 63
Removing the Nose ............................................................................................................................... 63
Opening the Deck ................................................................................................................................. 64
F ACTORY R EPAIRS .................................................................................................................................... 64
APPENDIX A.............................................................................................................................................. 65
H8S P ORTS & C ONNECTIONS .................................................................................................................... 65
H8S M ICROCONTROLLER .......................................................................................................................... 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
P IONEER 3 AND 2-P LUS M OTOR -P OWER B OARD ....................................................................................... 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
L EGACY M OTOR -P OWER ........................................................................................................................... 72
APPENDIX C.............................................................................................................................................. 73
R ADIO M ODEM S ETTINGS .......................................................................................................................... 73
APPENDIX D.............................................................................................................................................. 74
S ERIAL E THERNET S ETTINGS ..................................................................................................................... 74
LAN IP S ETTINGS ..................................................................................................................................... 74
Console mode: ...................................................................................................................................... 74
Webpage ............................................................................................................................................... 75
Peer-to-Peer Networking...................................................................................................................... 75
APPENDIX E.............................................................................................................................................. 76
S PECIFICATIONS ........................................................................................................................................ 76
WARRANTY & LIABILITIES ................................................................................................................ 78
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