Pioneer 3™ Operations Manual

ARCOS MAINTENANCE MODE................................................................................................................. 51
Enabling Maintenance Mode on the Controller ................................................................................... 51
ARCOSCF................................................................................................................................................. 52
STARTING ARCOSCF................................................................................................................................52
CONFIGURING ARCOS PARAMETERS ....................................................................................................... 53
Interactive Commands.......................................................................................................................... 53
Changing Parameters........................................................................................................................... 53
SAVE YOUR WORK.................................................................................................................................... 54
PID PARAMETERS ..................................................................................................................................... 56
DRIFTFACTOR, TICKSMM, AND REVCOUNT.............................................................................................. 56
STALLVAL AND STALLCOUNT .................................................................................................................. 57
BUMPERS................................................................................................................................................... 57
CHAPTER 8 CALIBRATION & MAINTENANCE .............................................................................. 58
TIRE INFLATION ........................................................................................................................................ 58
CALIBRATING YOUR ROBOT ..................................................................................................................... 58
DRIVE LUBRICATION................................................................................................................................. 59
BATTERIES ................................................................................................................................................ 59
Changing Batteries ............................................................................................................................... 59
Hot-Swapping the Batteries.................................................................................................................. 59
Charging the Batteries.......................................................................................................................... 59
Automated Docking/Charging System .................................................................................................. 60
Alternative Battery Chargers................................................................................................................ 60
TIGHTENING THE AT DRIVE BELT............................................................................................................. 60
GETTING INSIDE ........................................................................................................................................ 61
Removing the Nose ............................................................................................................................... 61
Opening the Deck ................................................................................................................................. 62
FACTORY REPAIRS .................................................................................................................................... 62
APPENDIX A.............................................................................................................................................. 63
CONTROLLER PORTS & CONNECTIONS...................................................................................................... 63
SH2 CONTROLLER .................................................................................................................................... 63
Power Connector.................................................................................................................................. 63
Serial Ports........................................................................................................................................... 64
User I/O, Gripper, Docking/Charging Interface .................................................................................. 64
Motors, Encoders, and IR Sensors........................................................................................................ 65
Joystick Port ......................................................................................................................................... 65
Bumper Ports........................................................................................................................................ 65
User Control Board Interface............................................................................................................... 66
Sonar Connectors ................................................................................................................................. 66
Heading Correction Gyro..................................................................................................................... 66
Tilt/Roll Sensor..................................................................................................................................... 66
I 2 C Interface ......................................................................................................................................... 67
APPENDIX B.............................................................................................................................................. 68
MOTOR-POWER BOARD ............................................................................................................................ 68
Configuration for Current and Temperature Sensing........................................................................... 68
Controller Power and Interface............................................................................................................ 69
Radio, Auxiliary, and User Power Connectors .................................................................................... 69
IR Signal and Power............................................................................................................................. 70
APPENDIX C.............................................................................................................................................. 71
ETHERNET-TO-SERIAL DEVICE SETTINGS ................................................................................................. 71
LAN IP SETTINGS..................................................................................................................................... 71
Console mode: ...................................................................................................................................... 72
Webpage ............................................................................................................................................... 72
Peer-to-Peer Networking...................................................................................................................... 72
APPENDIX D.............................................................................................................................................. 73
SPECIFICATIONS ........................................................................................................................................ 73
WARRANTY & LIABILITIES ................................................................................................................ 75
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