Pioneer 3 Operations Manual © 2007 MobileRobots Inc. All rights reserved. This document, as well as the software described in it, is provided under license and may only be used or copied in accordance with the terms of the respective license. Information in this document is subject to change without notice and should not be construed as a commitment by MobileRobots Inc. The software on disk, CD-ROM and firmware which accompany the robot and are available for network download by MobileRobots customers are solely owned and copyrighted or licensed for use and distribution by MobileRobots Inc. Developers and users are authorized by revocable license to develop and operate custom software for personal research and educational use only. Duplication, distribution, reverse-engineering or commercial application of MobileRobots software and hardware without license or the express written consent of MobileRobots Inc. is explicitly forbidden. PeopleBot™, AmigoBot™, PowerBot™, PatrolBot™, ARCSinside™, SetNetGo™, MobilePlanner™, MobileSim™ and MobileEyes™ are trademarks of MobileRobots Inc. Other names and logos for companies and products mentioned or featured in this document are often registered trademarks or trademarks of their respective companies. Mention of any third-party hardware or software constitutes neither an endorsement nor a recommendation by MobileRobots Inc. Pioneer 3 Operations Manual ● Version 5 ● July 2007 ii MobileRobots Inc. Important Safety Instructions 9 Read the installation and operations instructions before using the equipment. 9 Avoid using power extension cords. 9 To prevent fire or shock hazard, do not expose the equipment to rain or moisture. 9 Refrain from opening the unit or any of its accessories. 9 Keep wheels away from long hair or fur. 9 Never access the interior of the robot with charger attached or batteries inserted. Inappropriate Operation Inappropriate operation voids your warranty! Inappropriate operation includes, but is not limited to: 9 Dropping the robot, running it off a ledge, or otherwise operating it in an irresponsible manner 9 Overloading the robot above its payload capacity 9 Getting the robot wet 9 Continuing to run the robot after hair, yarn, string, or any other items have become wound around the robot’s axles or wheels 9 Opening the robot with charger attached and/or batteries inserted 9 All other forms of inappropriate operation or care Use MOBILEROBOTS authorized parts ONLY; warranty void otherwise. iii Table of Contents Chapter 1 Introduction ...............................................................................................................1 ROBOT PACKAGES ..........................................................................................................................................1 Basic Components (all shipments) ........................................................................................................................ 1 Optional Components and Attachments (partial list)............................................................................................ 1 User-Supplied Components / System Requirements ........................................................................................... 2 ADDITIONAL RESOURCES .................................................................................................................................2 Support Website...................................................................................................................................................... 2 Newsgroups............................................................................................................................................................. 2 Support.................................................................................................................................................................... 2 Chapter 2 What Is Pioneer? .......................................................................................................4 PIONEER REFERENCE PLATFORM......................................................................................................................4 PIONEER FAMILY OF ROBOT MICROCONTROLLERS AND OPERATIONS SOFTWARE .....................................................4 PORTS AND POWER.........................................................................................................................................5 CLIENT SOFTWARE..........................................................................................................................................5 ARIA ......................................................................................................................................................................... 5 SonARNL Localization and Navigation .................................................................................................................. 6 MODES OF OPERATION....................................................................................................................................6 Server Mode............................................................................................................................................................ 6 Maintenance and Standalone Modes ................................................................................................................... 7 Joydrive Mode ......................................................................................................................................................... 7 THE PIONEER LEGACY .....................................................................................................................................7 Pioneer AT ............................................................................................................................................................... 7 Pioneer 2 and PeopleBot™..................................................................................................................................... 8 Pioneer 3 and Recent Pioneer 2-DX8, -AT8 and Plus........................................................................................... 8 Pioneer 3 SH Robots............................................................................................................................................... 8 Chapter 3 Specifications & Controls.........................................................................................9 PHYSICAL CHARACTERISTICS AND COMPONENTS .................................................................................................9 DECK..........................................................................................................................................................10 MOTOR STOP BUTTON...................................................................................................................................10 USER CONTROL PANEL..................................................................................................................................10 Power and Status Indicators ................................................................................................................................10 Buzzer....................................................................................................................................................................11 Serial Port..............................................................................................................................................................11 Power Switches.....................................................................................................................................................11 Reset and Motors .................................................................................................................................................12 BODY, NOSE, AND ACCESSORY PANELS...........................................................................................................12 Nose.......................................................................................................................................................................12 Access Panels .......................................................................................................................................................12 SONAR ........................................................................................................................................................12 Multiplexed Operation ..........................................................................................................................................13 Sensitivity Adjustment ..........................................................................................................................................13 MOTORS, WHEELS, AND POSITION ENCODERS .................................................................................................13 BATTERIES AND POWER.................................................................................................................................13 Battery Indicators and Low Voltage Conditions ..................................................................................................14 Recharging ............................................................................................................................................................14 SAFETY ARCOS WATCHDOGS ........................................................................................................................14