AgileX BUNKER MINI, User Manual

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Page 2: ...uipment when the robot is powered on for the first time You can contact us at support agilex ai if you have any questions about usage It is very important that all assembly instructions and guidelines...

Page 3: ...laws and regulations so as to ensure that the developed robot does not have any major dangers and safety hazards in practical applications Gather all documents in the technical file including the ris...

Page 4: ...ambient temperature is greater than 0 C 5 Maintenance Regularly check the tension of the crawler and tighten the crawler every 100 150H of operation After every 200 hours of operation it is necessary...

Page 5: ...ng 4 3 3 Development 4 3 3 2 CAN line connection 10 3 3 3 Realization of CAN command control 10 3 4 Use and operation 11 3 5 BUNKER MINI ROS Package Usage Example 12 4 Attention 14 4 1 Battery precaut...

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Page 7: ...ers Parameter type Item Item Size Dimensions 660mm 584mm 286mm Chassis height 65 5mm Track width 100mm Ground length 670mm Weight Weight 54kg Load 25kg Battery Type Lithium battery Capacity 30AH Volta...

Page 8: ...oltage range 46 54v maximum current 10A 2 Power GND Negative power supply 3 CAN CAN_H CAN bus high 4 CAN CAN_L CAN bus low Figure 2 2 Pin definition diagram of the rear aviation extension interface 2...

Page 9: ...direction of X is the largest and when pushed to the minimum value the movement speed in the negative direction of the X direction is the largest The remote control joystick S2 controls the rotation o...

Page 10: ...cy stop switch at the rear of the BUNKER MINI body Basic operation process of remote control After the BUNKER MINI robot chassis is started normally turn on the remote control and select the control m...

Page 11: ...Description byte 0 Current vehicle body state unsigned int8 0x00 System normal 0x01 Emergency shut down mode 0x02 System exception byte 1 Mode control unsigned int8 0x00 Standby mode 0x01 CAN command...

Page 12: ...rad s byte 4 Reserved 0x00 byte 5 Reserved 0x00 byte 6 Reserved 0x00 byte 7 Reserved 0x00 The control frame includes the linear velocity control opening the angular velocity control opening and the ch...

Page 13: ...control of commands When the remote control switches to the command mode it still needs to send the control mode setting command before responding to the speed command The state setting frame is used...

Page 14: ...ent position of the motor Unit number of pulses byte 5 The current position of the motor is the second highest signed int16 byte 6 The current position of the motor is the second lowest signed int16 b...

Page 15: ...ck frame Sending node Receiving node ID Cycle ms Receiving Timeout ms Wire controlled chassis Decision control unit 0x311 20ms None Data length 0x08 Position Function Data type Description byte 0 The...

Page 16: ...igned int8 0 255 loop count 3 3 2 CAN line connection BUNKER MINI provides an aviation plug male as shown in Figure 3 2 The definition of the line is that the yellow is CANH the blue is CANL the red i...

Page 17: ...client software select the port number BUNKER MINIchassis is powered on click Start Connection immediately BUNKER MINI chassis will wait for 6S before power on if the time exceeds 6S it will enter the...

Page 18: ...X BUNKER MINI mobile robot chassis X1 AGILEX BUNKER MINI supporting remote control FS i6s X1 AGILEXBUNKER MINI top aviation receptacle X1 Environment description of usage example Ubuntu 16 04 LTS this...

Page 19: ...cted to the BUNKER robot this time and the vehicle is powered on use the following commands to monitor the data from the BUNKERchassis candump can0 Reference 1 https github com agilexrobotics agx_sdk...

Page 20: ...perature is lower than 10 and higher than 45 Do not use it in an environment with corrosive or flammable gases or in an environment close to flammable substances Do not store it around heating element...

Page 21: ...ntrolled by the remote control it means that the chassis motion control is normal and it can receive the feedback frame of the chassis which means that the CAN extension link is normal Please check wh...

Page 22: ...16 6 Product Dimensions 6 1 Illustrations of product outline dimensions...

Page 23: ...17 6 2 Illustrations of top expansion bracket dimensions...

Page 24: ...Official distributor WORLDWIDE david denis generationrobots com 33 5 56 39 37 05 www generationrobots com...