AgileX SCOUT MINI, User Manual

Page 1: ...AgileX Robotics SCOUT MINI User Manual AgileX Robotics Support Team Version 1 0 Release 20192 ...

Page 2: ...AgileX robotics Dongguan Co Ltd 1 27 Description of Version Information Version Content of Changes Person in Charge Date v1 0 0 New addition Create a file Xie Zhiqiang November 22 2019 ...

Page 3: ...uctions on lighting control 8 3 Getting Started 10 3 1 Use and operation 10 3 2 Charging 11 3 3 Development 11 3 3 1 CAN interface protocol 11 3 3 2 CAN cable connection 20 3 3 3 Implementation of CAN command control 20 3 4 Firmware upgrade 20 4 Attention 23 4 1 Battery precautions 23 4 2 Application environment precautions 23 4 3 Precautions for electrical external extension 23 4 4 Precautions fo...

Page 4: ... and more advanced access and the access of robot development system Equipped with standard aeromodelling aircraft 24V 15Ah lithium battery power system its endurance mileage is up to 10 km Additional components such as stereo camera laser radar GPS IMUS manipulator etc can be optionally installed on SCOUT MINI for expanded applications SCOUT MINI is frequently used for unattended inspection secur...

Page 5: ... 4G extreme distance 1km Communication interface CAN 1 3 Requirement for development FS RC transmitter is provided optionally in the factory settings of SCOUT MINI and it allows users to control the mobile chassis to move and turn the CAN provided on SCOUT MINI can be used for secondary development via the CAN interface ...

Page 6: ...unted in the front of the vehicle to protect the front and reduce possible damages to the vehicle body during a collision The front of the vehicle is equipped with white lights which can be illuminated Electrical interfaces for DC power and communication interfaces are provided at the rear of the robot to facilitate secondary development The electrical interfaces adopt waterproof plug in component...

Page 7: ...he position of each module at the tail is as shown in the figure SCOUT MINI aviation extension interface is configured with both a set of power supplies and a set of CAN communication interfaces These interfaces can be used to supply power to extended devices and establish communication The specific definitions of pins are shown in Figure 2 4 Pin No Pin Type Function and Definition Remarks 1 Power...

Page 8: ...r is in the same position Figure 2 9 Schematic Diagram of Buttons on FS Remote Controller 2 4 Description of movement by remote control and control by command A reference coordinate system shown in Figure 3 0 is established in accordance with ISO 8855 standard for moving vehicles on ground Figure 3 0 Schematic Diagram of Reference Coordinate System for Vehicle Body As shown in Figure 3 0 the vehic...

Page 9: ...ise direction reaches the maximum In the control command mode the positive value of linear speed refers to movement towards the positive direction of axis X and the negative value of linear speed refers to movement towards the negative direction of axis X the positive value of angular speed refers to the rotational movement of vehicle body from the positive direction of axis X to the positive dire...

Page 10: ...AgileX robotics Dongguan Co Ltd 9 27 Note on mode control Toggling SWC lever respectively to bottom middle and top positions refers to normally closed mode normally open mode and breathing light mode ...

Page 11: ... is correct Try to gently push the left rocker a little forward then you can see the vehicle moves forward slowly Try to gently push the left rocker a little backward then you can see the vehicle moves backward slowly Release the left rocker then the vehicle will stop Try to gently push the right rocker a little leftward then you can see the vehicle rotates leftward slowly Try to gently push the r...

Page 12: ...d and the rotational angular speed of chassis can be controlled SCOUT MINI will feedback the current motion status information SCOUT MINI chassis status information etc in real time The protocol includes system status feedback frame movement control feedback frame and control frame the contents of which are shown as follows The system status feedback command includes the feedback information about...

Page 13: ...lt 0 byte 5 bit 0 Battery under voltage failure 0 No failure 1 Failure Protective voltage 22V bit 1 Battery over voltage failure 0 No failure 1 Failure bit 2 No 1 motor communication failure 0 No failure 1 Failure bit 3 No 2 motor communication failure 0 No failure 1 Failure bit 4 No 3 motor communication failure 0 No failure 1 Failure bit 5 No 4 motor communication failure 0 No failure 1 Failure ...

Page 14: ...le body For the detailed content of protocol please refer to Table 3 3 Table 3 3 Movement Control Feedback Frame Command Name Movement Control Feedback Command Sending node Receiving node ID Cycle ms Receive timeout ms Steer by wire chassis Decision making control unit 0x131 20ms None Data length 0x08 Position Function Data type Description byte 0 Moving speed higher 8 bits signed int16 Actual spe...

Page 15: ...Parity bit checksum unsigned int8 Parity bit Note 1 Control mode instructions In case the RC transmitter is powered off the control mode of SCOUT MINI is defaulted to command control mode which means the chassis can be directly controlled via command However even though the chassis is in command control mode the control mode in the command needs to be set to 0 x 01 for successfully executing the s...

Page 16: ...00 0x00 0x00 0x44 3 When the vehicle stays still switch the control mode to command mode test without the RC switched on byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x3a The chassis status information will be fed back what s more the information about motor current encoder and temperature are also included The following feedback frame contains the inf...

Page 17: ...ctual temperature with an accuracy of 1 byte 5 No 1 motor temperature signed int8 Actual temperature with an accuracy of 1 byte 6 Count parity bit count unsigned int8 0 255 counting loops which will be added once every command sent byte 7 Parity bit checksum unsigned int8 Parity bit Table 3 6 No 2 Motor Information Feedback Command Name No 2 Motor Drive Information Feedback Frame Sending node Rece...

Page 18: ...rrent higher 8 bits unsigned int16 Actual current X 10 with an accuracy of 0 1A byte 1 No 3 drive current lower 8 bits byte 2 No 3 drive rotational speed higher 8 bits signed int16 Actual motor shaft velocity RPM byte 3 No 3 drive rotational speed lower 8 bits byte 4 No 3 drive temperature signed int8 Actual temperature with an accuracy of 1 byte 5 No 3 motor temperature signed int8 Actual tempera...

Page 19: ...bit Table 3 9 Lighting Control Frame Command Name Lighting Control Frame Sending node Receiving node ID Cycle ms Receive timeout ms Decision making control unit Steer by wire chassis 0x140 25ms None Data length 0x08 Position Function Data type Description byte 0 Lighting control enable flag unsigned int8 0x00 Control command invalid 0x01 Lighting control enable byte 1 Front light mode unsigned int...

Page 20: ...oops which will be added once every command sent byte 7 Parity bit checksum unsigned int8 Parity bit The data check bit is the last valid byte in the data segment of each frame of CAN message Its check sum is calculated as follows checksum ID_H ID_L data_length can_msg data 0 can_msg data 1 can_msg data 2 can_msg data 3 can_msg data 4 can_msg data n 0xFF ID_H and ID_L are respectively higher 8 bit...

Page 21: ...ximum current that can be provided in this version is 5A 3 3 3 Implementation of CAN command control Correctly start the chassis of SCOUT MINI mobile robot and turn on DJI RC transmitter Then switch to the command control mode i e toggling S1 mode of DJI RC transmitter to the top At this point SCOUT MINI chassis will accept the command from CAN interface and the host can also parse the current sta...

Page 22: ...t the serial cable to the computer Open the client software Select the port number Power on SCOUT MINI chassis and immediately click to start connection SCOUT MINI chassis will wait for 6 s before power on if the waiting time is more than 6 s it will enter the application if the connection succeeds connected successfully will be prompted in the text box Load Bin file Click the Upgrade button and w...

Page 23: ...AgileX robotics Dongguan Co Ltd 22 27 Figure 3 3 Client Interface of Firmware Upgrade ...

Page 24: ...in fire or heat up the battery and please do not store the battery in high temperature environment Charging The battery must be charged with a dedicated lithium battery charger please do not charge the battery below 0 and do no use non originally standard batteries power supplies and chargers 4 2 Application environment precautions The operating temperature of SCOUT MINI outdoors is 10 to 45 pleas...

Page 25: ...cal load 4 5 Other notes SCOUT MINI has plastic parts in front and rear please do not directly hit those parts with excessive force to avoid possible damages When handling and setting up please do not fall off or place the vehicle upside down For non professionals please do not disassemble the vehicle without permission 4 6 Safety precautions In case of any doubts during use please follow related ...

Page 26: ... how to deal with this problem A If SCOUT MINI give this beep beep beep sound continuously it means the battery is in the alarm voltage state Please charge the battery in time Once other related sound occurs there may be internal errors You can check related error codes via the CAN bus or communicate with related technical personnel Q Is the tire wear of SCOUT MINI is normally seen when it is runn...

Page 27: ...AgileX robotics Dongguan Co Ltd 26 27 6 Product Dimensions 6 1 Illustration diagram of product external dimensions ...