Chengdu Hangfa Hydraulic Engineering Co., Ltd Compass Q2, User Manual

Page 1: ...Compass Q2 Four wheel Omni directional Robot Platform User Manual V1 2 Chengdu Hangfa Hydraulic Engineering Co Ltd Robot Division Feb 3rd 2017...

Page 2: ...atform does not fireproof or waterproof therefore please keep robot platform away from fire or water as far as possible Please keep a safe distance from robot platform for errors might occur whether o...

Page 3: ...ain structure 9 6 3 Motor 9 6 4 Omni wheel 11 6 5 Rocker suspension 11 6 6 Users extension platform 11 6 7 The thread hole 11 7 Electric system 12 7 1 Electrical principle drawing 12 7 2 IMDR4 Four sh...

Page 4: ...ly and rotate in the same time Suspension system Rocker suspension structure enables the 4 wheels to touch the ground and be driven evenly This suspension system can help reducing vibration when passi...

Page 5: ...side of the robot to outside 2 Big cover plate 3 Wireless receiver module 4 RHF407 development board STM32F407 as the core of the development board it offers the users demonstration program and applic...

Page 6: ...for protection in the case of short circuit or false operation 10 Chassis body 11 QMA 10 Mecanum wheel 3 2 Interior structure 1 Plant Gearbox 2 Motor 3 Encoder 4 Driver 5 Lithium Battery 6 Power sour...

Page 7: ...he power source switch the power indicator light should be lighted up If you push the robot platform slightly you would feel the self lock drag forth to the motor produced by servo driver Step 4 Conne...

Page 8: ...the RHF407 SW2 button the robot will make a parallel movement according to the route of the below rectangle The rectangle width is 0 8m length is 1 6m 4 2 Self movement in Place DEMO Click the RHF407...

Page 9: ...eters Table 1 Compass Q2 Specification Parameters Body structure Aluminum Alloy Molding Whole Shape Dimension 450 330 115mm Driven wheel QMA 10 Omni wheel Diameter of driving wheel 101 6mm Driven mode...

Page 10: ...aterial properties The main structure is one time producing which makes it with high strength and high rigidity it avoids the shortcomings such as poor precision poor integration error and poor rigidi...

Page 11: ...10...

Page 12: ...hen the platform is moving In this way the working environment of the added equipment would be improved 6 6 Users extension platform The plate on the robot is made of one big board and one small board...

Page 13: ...12 7 Electric system 7 1 Electrical principle drawing...

Page 14: ...2 interface For more details please check IMDR4 four shaft driver Can communication protocol and MDR4 four shaft drive UART communication protocol 7 2 2 Interface description 7 2 2 1 Interface summary...

Page 15: ...put Table 5 IMDR4 motor 1 2 3 4 Power interface Pin No Description note 1 M Motor 2 M Motor 7 2 2 4 H6 H7 H8 H9 Motor 1 Motor 2 Motor 3 Motor 4 encoder interface Table6 IMDR4 motor 1 2 3 4 encoder por...

Page 16: ...15 2 CANL 3 CANH 4 RXD 5 TXD...

Page 17: ...se electricity and communication network easily for the equipment through these port 7 3 2 Port description 7 3 2 1 Port summary Table8 IFB1205 port summary Port number Description Remark J1 Indicator...

Page 18: ...pin cross connect J15 Standard power and bus port 7 3 2 2 J1 Indicator light access port Table 9IFB1205 Indicator light access port PIN number Description Remark 1 D 2 GND 7 3 2 3 J2 user charge port...

Page 19: ...Power Main Switch Port Table 13 Ifb1205 Power Main Switch Port Pin number Description Remark 1 S1 Switch PIN1 2 S2 Switch PIN2 7 3 2 7 J6 Battery Access Port Table 14 Ifb 1205 Battery Access Port Pin...

Page 20: ...equipment which have CAN bus port can access bus through 8 PIN standard ports on the IFB1205 board and realize equipment connection Meanwhile it can realize connect two each other which have RS232 po...

Page 21: ...20 8 3 Design Your Own Main Control Unit The users can design their own main control unite according to application requirement...

Page 22: ...Bluetooth to serial module panoramic cameras inclinometer 9 Packing List 1 robot platform robot platform 1 QMA 10L Mecanum wheel 2 QMA 10R Mecanum wheel 2 motor 4 Four Axes Servo 1 Lithium battery 1...

Page 23: ...2 HANGFA CHENGDU HANGFA HYDRAULIC ENGINEERING CO LTD No 220 Gangbei 3rd road North Area Chengdu Modern Industrial Park TEL 028 87893560 1041 Fax 028 87893539 Email sales2 hangfa com Web www hangfa com...