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ER-400 AGV Mobile Robot

1. byte i 0 long sum 0 for i 0 i lt length i sum packetf i return byte sum The following are examples of three commands based on Appendix A Forward 100 cm at 90 degree heading speed 19 with 350 mm ultrasound limit Observe the path the Mobile robot takes Note the differences between these parameters and the default settings in the AGV Device Driver Packet editor param param2 param3 param paramS param6 param Pe P fs fe wo o Turn 90 degrees to the right at speed 30 Packet editor param param2 param3 param param5 param param FE FP p ER 400 AGV Mobile Robot User Manual 27 Operation 0606 intelitek If you change parameter 5 to zero the instruction is Endless Motion You can stop it with the following command Stop motor Packet editor param param2 param3 param4 paramb param6 param eee es E The packet editor allows you to fill in unused parameters with zeroes with no change in function Note many of the commands used for the robotic vacuum cleaner are still operational Integration with Computer Workstation The ER 400 can be configured to interact with a single computer workstation which is typically a desktop computer The control software is SCORBASE for Mobile Robot which runs under Microsoft Windows The Mobile Robot and its on board laptop PC must be connected as provided at page 13 and must be running the AGV Device Driver as provided at
2. Send Message Send To Device Driver vi Device ID BR x String RUN 217052 Cancel Stop If the AGV happens to be within arm s reach the user can press the red STOP button on the AGV s control panel or the F5 key on the on board laptop PC In other situations the user must interact through the workstation This command can be sent from the workstation to the Mobile Robot in one of two ways e The user may click on the aD icon on the SCORBASE interface window e The user may press F9 on the workstation computer keyboard However neither action will have any effect if the user has not defined a subroutine called ON_STOP which sends the appropriate message to the AGV Device Driver That subroutine must be currently available for execution which means that it must be part of every AGV SCORBASE project Note that this is a different key from the one used by the AGV Device Driver for the same function If you are running both SCORBASE and the AGV Device Driver on the same computer you can press F5 to stop the AGV Device Driver but the SCORBASE program continues to run F9 stops both ER 400 AGV Mobile Robot User Manual 29 Operation 0606 intelitek The following example demonstrates use of the SM dialog box in SCORBASE to send a STOP message to the AGV Send Message SendTo Device Driver vi Device ID Rx String STOP The following example shows how this command appears in the ON STO
3. The on board PC must have the following minimum characteristics Weight less than 4 kg Physical dimensions maximum 23 5 cm x 31 5 cm Operating System At present the system is certified for use under Windows XP Windows 2000 and Windows 98SE It is not certified for Windows Mobile Processor Pentium III or equivalent running at minimum 450 MHz Memory minimum 128 MB Removable drive CD ROM drive Hard drive minimum 20 MB of free disk space Ports e USB or RS 232 e Wireless LAN Battery life minimum 2 hours Color black important only for integration into Open CIM Desktop Workstation PC Specifications Processor Pentium III with 450 MHz processor or higher equipped with CD drive Memory minimum 128 MB Hard drive minimum 60 MB of free disk space Operating System Windows 98 2000 Me XP Monitor A Super VGA or better graphics display minimum 256 colors Mouse or other pointing device Ports e USB or RS 232 e Wireless LAN ER 400 AGV Mobile Robot User Manual 10 General Information 0606 intelitek 2 Assembly and Installation Assembly of Payload Stand The ER 400 comes with a specially engineered stand to support an on board laptop computer and a payload The stand includes a horizontal crossbar to be used as a handle for lifting a large shelf for the laptop computer and a small shelf for the payload The Mobile Robot is shipped with the on board PC shelf already att
4. RoboCell for ER Su SCORBASE for ASRS 2X36u SCORBASE for ASRS 36u SCORBASE for ER 2u SCORBASE for ER 4u SCORBASE for Mobile Robot Description SCORBASE for Mobile Robot ER 400 AGV Mobile Robot User Manual 15 Assembly and Installation 0606 intelitek By default the installation program copies the file AGVDD EXE into the C Program Files Intelitek Scorbase AGV BIN subdirectory Open the AGV Device Driver The following screen is displayed Ej AGY Device Driver Device ID 2 File Settings Tools Help Drive forward cm Ultrasound threshold mm Speed PT ne x foo fo goe Drive reverse after Bumper Event Reverse Tum deg Right 90 Left Turn Teach Positions Messages o i ae y cm Tek User defined Position number Clear Set Home Localize Teach Delete GoTo Path Building Path Name List Positions v No Number Speed Build Path Delete Path Pause Continue Clear Distance counter cm Heading deg x cm y cm Theta deg n I Ge Gps No response from mobile robot controller C Program Files Intelitek SCORBASE AGVACIMFlex WS1 172 16 12 21 Comenunieatinn poris From the menu bar select Settings and Saj then the drop down menu item Communications Port In the subpanel Set port z labeled Set Port select the COM port you Poa identified in the previous step Do not change the speed setting from the default 38 400 This setting will be automatically sav
5. buttons to select those four options To return to the main control panel click on the button labeled Menu Toolkit The COM Port utility provides an alternate means of assigning the communications port to the A AET Mobile Robot similar to the procedure described on page 16 Press Check Connection to ensure that you have communications between the PC and the AGV If successful the software will report Connection Verified In order to establish a good connection you may have to run the AGV Device Driver issue a single command to the AGV and exit Re load the toolkit select Configure COM Port press the button marked Set COM Port and then Check Connection The Diagnostics and Upgrade utilities are needed only for purposes of repair If you need repair please contact your Intelitek service center The internal microprocessor in the Mobile Robot runs its own software When the Mobile Robot is turned on the processor boots up that software including many predetermined default settings The Settings utility is used to modify those defaults according to the needs of the user For example the user may need to disable the stair sensor because of the texture or coloration of the floor surface in the workspace where the ER 400 will be used A check mark V indicates that a sensor is active Settings Sensors Monitors Debug modes General E Ultrasoun Suction Drive Stairs Door z Elevation Payload Door transmit 2 Brush Surf
6. e The data cable between the Mobile Robot and the on board computer may be dislodged e The AGV Device Driver may be not loaded properly or not configured for the proper COM port e The RS 232 USB Device Driver may not be loaded properly Communications between the Mobile Robot and the computer workstation can also be disrupted if there is a problem with the LAN network In this event however there will be no message from the Mobile Robot at all It is the responsibility of the SCORBASE script to resolve whatever problem is reported by the Mobile Robot Integration with CIM Overview A Computer Integrated Manufacturing CIM facility typically consists of several workstations where work is performed by stationary machines and some means of transporting the work from station to station The transport system may be a computer controlled conveyor belt a mobile robot such as the ER 400 AGV a robotic arm on a slidebase or some combination The layout of the work area must be carefully planned for the requirements of the manufacturing operation Each stationary robot must have enough room to perform its tasks without interference from other robots or human operators Each mobile robot must have adequate clearance to allow safe passage from station to station The path must be wide enough to allow for cumulative errors in navigation and the passage of two way traffic The manufacturer recommends that a one way path be one meter in w
7. 180 degrees The speed is pre set at level 4 You can cause a Bumper Event by positioning a small heavy object in the path of the Mobile Robot Ifthe object has the right dimensions it will escape detection by the ultrasound sensors Homing Place the AGV at the position you wish to use for its home base You must have some means of physically defining this location This is normally done by lining up marks on the floor with marks on the Mobile Robot such as the adhesive arrows provided This can also be done by making the Mobile Robot or its Payload Shelf physically touch a stationary object However you must keep in mind that the ultrasound sensors and Bump Guard will not allow the body of the robot to touch any objects and that the Reverse command only works after a Bumper Event By definition the x y coordinates at the Home position are 0 0 and the theta is 0 Make sure the AGV has the proper orientation If the home position is at a workstation it is recommended that the x axis of the Mobile Robot should be the same line as the x axis of the stationary robot This will simplify the procedures for localizing Press the button marked Set Home to label this as the home position All other points are defined by the AGV Device Driver in relation to the Cartesian x y coordinate system defined by the Home position The Mobile Robot itself will keep track of the coordinates as long as it is not towed by the Pull Line cord or physicall
8. continuing If the point is an intermediate point on a path select Any for the theta setting If the point is the final point specify the angular offset from the zero degree orientation of the Home Point using the number of degrees to the left counter clockwise Assign a position number by typing an integer value in the box labeled Position number You can use any number of digits up to six but you should use the same number of digits for all position numbers in a single project This will ensure proper sorting in the dialog boxes while allowing you to develop your own numbering conventions When you are satisfied with all the values press the button labeled Teach This places the values in memory To go to that point at a future time select the position number and click the button labeled Go To The Mobile Robot will go to that point in a straight line from its current location The Speed drop down box controls the speed Without any special higher level programming the ER 400 will not be able to go around obstacles For example if you define four points in a square but place an obstacle in the center the robot will be unable to proceed to an opposite corner until the obstacle is moved out of its path ER 400 AGV Mobile Robot User Manual 23 Operation 0606 intelitek If you make a mistake you can simply Teach the correct values for the desired point which overwrites the incorrect data Alternatively you can press the D
9. detected 2 right stair detected Control Panel Buttons 170 11 11 CHK Byte 10 1 Go 2 Stop 3 Up 4 Down Leash Pull cord 170 11 11 CHK Byte 10 1 in out 2 Left 3 Right 4 Forward Door 170 11 CHK Byte 10 1 vertical 2 inclined Infrared receivers 170 16 11 32 Byte 10 Right Front Byte 11 Left Front Byte 12 Right Byte 13 Left Byte 14 Rear CHK Values for bytes 10 14 1 Stop 10 Unlock 11 Left 12 Right 13 Reverse 14 Forward 15 Call me 99 no signal illegal transmission Charging Plug 170 11 11 64 CHK Byte 10 1 detected In this table Byte 2 is the number of bytes sent in the packet and Byte 5 is the message transmission rate 50 ms increments ER 400 AGV Mobile Robot User Manual 0606 54 Appendices
10. file after the sign following the applicable key whose name ends with _file Example ControllerNotRespond file NotRespond mp3 To change the text of any status message first back up the file with a different filename Then make the changes you need in the status_messages section and save the file Workstation software SCORBASE for Mobile Robot SCORBASE is a versatile control program which runs scripts to send messages to various robotic devices The commands are sent to the controllers which actually drive the specific pieces of equipment SCORBASE is fully featured containing all program flow control and input output communications commands SCORBASE for Mobile Robot is a custom version containing commands which are specifically designed to communicate with the AGV Device Driver SCORBASE is installed automatically together with the AGV Device Driver See page 15 ER 400 AGV Mobile Robot User Manual 17 Assembly and Installation 0606 intelitek AGV Test Files Your installation disc also contains the AGV TEST project to be run by SCORBASE It consists of the following files AGV_TEST WS AGV_TEST PNT AGV_TEST SBP These files are copied by the installation program into the C Program Files Intelitek SCORBASE Projects subdirectory which is the default project location They are used by SCORBASE as a system diagnostic tool for the on board PC s control of the Mobile Robot Be sure SCORBASE is in Pro mode before
11. into three categories e Software for the on board laptop PC e Software for a single workstation that controls the ER 400 Mobile Robot e Software for a master control computer that manages several independently functioning workstations The software bundle provides a basic working system on the first two levels To provide you with the greatest flexibility it is designed to install the same set of software on each computer in your network On screen instructions simplify the task of installation AGV Device Driver The AGV Device Driver is the software that directly controls the AGV Automated Guided Vehicle also called the Mobile Robot It is normally run from the on board laptop PC but can also be run from a desktop PC The communications cable provided with the Mobile Robot is long enough to permit this type of operation if desired SCORBASE SCORBASE for Mobile Robot is a programmable software control package It is designed to run on a desktop computer issuing its commands over the wireless LAN to the AGV Device Driver However it can also be run on the on board laptop PC sending the commands directly to the AGV Device Driver running on the same computer ER 400 AGV Mobile Robot User Manual 13 Assembly and Installation 0606 intelitek Other Software Other software can be substituted at any of the three levels as long as the programmer knows which commands are expected as input and output Examples of availa
12. moving parts within the workspace Its capabilities are perfect for prototyping heavy applications such as hazardous material handling agricultural manufacturing rescue security and military uses The open architecture of the ER 400 allows for the integration of limitless advanced technologies including GPS gyroscope compass laser and stereo vision This expands the unit s uses far beyond its original incarnation as an automated vacuum cleaner For autonomous navigation and obstacle avoidance the ER 400 uses various sensor technologies such as infrared and ultrasound These features are operational both when the ER 400 is controlled remotely and when it functions independently System Overview The AGV System consists of three basic parts e ER 400 AGV Mobile Robot e On board laptop PC not provided by Intelitek e Optional Desktop workstation PC not provided by Intelitek ER 400 AGV Mobile Robot User Manual 1 General Information 0606 intelitek Safety READ ALL INSTRUCTIONS BEFORE USING THIS DEVICE WARNING To reduce the risk of fire electric shock or injury e Do not use outdoors or on wet surfaces e Close supervision is necessary when any appliance is used by or near children Do not allow the robot to be used as a toy or operated in an area with unsupervised children e Keep hair loose clothing fingers feet and all parts of body away from openings and any moving parts Do not operate Robot in bare feet
13. or when wearing open toe shoes or sandals e Do not use in a room with any form of open flame such as lit candles burning fireplaces or lit oil lamps e Do not use to pick up flammable or combustible materials such as gasoline e Ensure that the floor of the mobile robot s workspace is completely free of electrical cords wires and cables Secure all such obstacles so that they cannot be accidentally moved e Before servicing the mobile robot always turn off all controls and remove the batteries e Remove batteries from the mobile robot if it will not be used for periods of time greater than two weeks Keep batteries fully charged for storage e Do not unplug by pulling on charger cord To unplug grasp the plug not the cord Never handle plug battery or appliance with wet hands e Do not use with damaged charger cord plug or batteries If appliance is not working as it should has been dropped damaged left outdoors or dropped into water take it to your dealer e Use mobile robot only for its intended use as described in the instructions e Use only attachments recommended by Intelitek others may cause hazards e This product contains a sealed lead acid battery Battery must be recycled properly and must not be incinerated e Do not incinerate this appliance even if it is severely damaged The batteries can explode in a fire e Avoid touching the electrical terminals on the batteries e Keep the charger and batteries
14. page 15 Possible applications may include delivery of a piece of raw material to a robotic lathe In this case the SCORBASE software will be running on the workstation which controls the Mobile Robot the lathe and the robotic arm that manipulates parts at that location The workstation script will issue one set of commands to the Mobile Robot another set of commands to the robotic arm and still other commands to the lathe Another possible application is packing a finished item into a container The workstation running SCORBASE will issue commands to the Mobile Robot the robotic arm and the machinery that delivers empty boxes and takes away full ones SCORBASE commands There are only four commands sent by SCORBASE to the AGV Device Driver This configuration frees the SCORBASE script from the low level details of the paths and the conditions of the sensors The commands are sent as ordinary text strings Run This command is used in conjunction with the path names defined in the APF file which is currently open in the AGV Device Driver Use of any ER 400 AGV Mobile Robot User Manual 28 Operation 0606 intelitek unlisted names will generate an error message from the Mobile Robot which is then displayed on the workstation in the Messages window of SCORBASE The following example demonstrates use of the SM dialog box in SCORBASE to send a RUN message to the AGV The designated path is 21T052 the example given on page 25
15. param4 param5 param6 param ep p Pp p p fp The Packet Editor performs several functions It provides numeric fields for the programmer to manually insert DECIMAL values for all the bytes in the string after the first three and before the final checksum CHK byte Thus the first parameter param1 in the Packet Editor is actually the fourth byte in the packet The Packet Editor conveniently counts the total number of bytes and inserts the value into the second byte Finally it calculates the value required for the checksum inserting it at the end of the packet Note that if you calculate and enter your own checksum the computer generated checksum will be zero which by itself would not affect the packet but the count of bytes will be off by one ER 400 AGV Mobile Robot User Manual 26 Operation 0606 intelitek When you are satisfied that all the values entered are correct press the button labeled Transmit packet The checksum byte is used to determine whether there have been any data transmission errors Its value is calculated as follows the numeric value of all the previous bytes in the packet are summed If the value is greater than 255 such that it must be expressed in more than one byte the higher order byte is discarded The resulting value is subtracted from 255 and that value is the checksum The following C language code for this process is provided for your convenience byte Check_sum byte packet byte length
16. performed by an authorized Intelitek service and warranty facility A valid proof of purchase is required for warranty repairs The limited warranty does not cover transportation costs of any kind The owner bears all responsibility for transportation costs to an authorized Intelitek service and warranty facility Items and Conditions Not Covered This express warranty does not cover the following e Any product or part that has been altered misused abused or requires replacement or repair due to accidents or lack of proper maintenance e Normal wear and tear including fading of paint or plastic parts e Any costs or damages associated with improper use of product e Any product that has been opened repaired modified or altered by anyone other than a Intelitek authorized repair facility e Repairs necessary due to improper battery care and or improper charging process such as charging in wet conditions electrical supply irregularities or failure to properly prepare the robotic mobile robot or battery prior to any period of non use e Repairs necessary due to water damage or any acts of God Instructions for Obtaining Warranty Service Should you feel your Intelitek product contains a defect in materials or workmanship contact the retailer who sold you the product Owner Responsibilities You must maintain and care for your Intelitek product by following the maintenance and care procedures described in this manual Routine maintenance whe
17. polling and reporting cece ceeeceeeceeeceeeeceeeceeeeeeeeeeseecsaeenteenseee 39 Command om Fa OD sona eske eroderte 39 Initialization isione E EE E ENE EE 39 Monitoring of data packets ccnssscensdeavarenssapoutsssnceusnnansbenseneiteaisyuldsoaineeniedne 39 Hardware oriented pe 39 Add video camera EE 39 Add new positional or navigational sensors rsrrrrnrrrrnrrrrrrrrnrrrnnrrrnrerrnnrenn 39 Add other sensorsLunagsmnsnmnmemnnatinetpedaensasddstednasksai 39 Move FO AG 40 Experiment with travel surfaces and wheel materials onrrrrnrnrnnnornnrenn 40 Experiment with trailer uuusnaospmsinsrensmgaelndass bemdmeajde 40 Add on board robotic arm esrrrvrrrenvvrnnrernrrrrrrrrnsernnrssnrsrsrseensessnrssnrsserseenn 40 Add laser bar code reader saa SaenG 41 AJ orient d Projects ES 41 Int r ction VL saasderadrskeegsd eden ud 41 Multi agent group robotics ua aednon 41 Data collection and optimization srrronvrrnnrernrrrerrrrnrrrenrrrrnrerrrnrrnsesnressnneenn 41 Perform task in natural environment deliver assist rrrvrrrrorrrrnnnvrrnnnr 41 Identifying bottleneeksuyusasssadrmnmsinsnattennunvnnjejn aoveindnes 42 Environmental 0 EEE ME NE 42 Pl rem dsesesseseSsgsesse egene 42 Sens r oriented proje iS isseire sireeni eE EEEE EEE E E E E EEN AEA EEES 42 Use on board camera or other sensors for obstacle avoidance 42 Use on board camera for landmark navigation ssreerrrrvrrrrrrrrrrrrrnrrrrnrrrnn 42 Imple
18. proper category Contact Intelitek by e mail at info intelitek com Include the following words in the subject line ER 400 AGV Student Project Support Include ER 400 AGV Mobile Robot User Manual 35 Optional Research Projects 0606 intelitek a detailed description of the proposed project and the technical issue causing the problem Intelitek will send a confirming e mail to the purchaser of the unit When the purchaser provides authorization the call will be referred to the appropriate personnel for response Software oriented projects Add behaviors Attempt to bypass obstacles An obstacle may be a human an object inadvertently left by a worker or an object left by a prankster The response of the robot to one of these situations is presently to wait until the obstacle is removed However there may be other solutions such as attempting to bypass the obstacle by moving to one side of the path by backtracking and selecting an alternate route If either of these solutions is used should the computer remember the solution or should it be resolved on every single occasion Is there a way of bulldozing the obstacle out of the way What sort of cry for help should be issued to human operators The following solutions to this problem are suggested for varying levels of difficulty Simple Solution 1 Change the default wait period from 3 seconds to a longer period after the second iteration Once the obstacle has been
19. removed be sure to reset the delay to the original default value Simple Solution 2 Use SCORBASE to run a script which rewrites and saves part of the AGVDD ENG file This file can be edited on the fly and the AGV Device Driver does not have to be restarted Instead of broadcasting the same message repeatedly the Mobile Robot should broadcast one message when it first encounters the obstacle a second message if the obstacle is not removed within the default 3 seconds and so on The last response should be to notify the human operator Be sure to replace the original AGVDD ENG file for use the next time an obstacle is encountered Simple Solution 3 Rewrite the SCORBASE script so that upon encountering an obstacle the Mobile Robot goes by a straight line to the beginning of its current path and then follows an alternative route to get to the same destination ER 400 AGV Mobile Robot User Manual 36 Optional Research Projects 0606 intelitek Intermediate Solution 1 Rewrite the SCORBASE script so that upon encountering an obstacle the Mobile Robot retraces its actual path back to the beginning and then follows an alternative route to get to the same destination Intermediate Solution 2 Use SCORBASE to interact with Excel keeping track of which paths are blocked and directing the Mobile Robot to use only unblocked paths Advanced Solution 1 Use SCORBASE and Excel to map the entire workspace in the form of a suitably
20. unused parts that have no function for your application such as the vacuum motor Monitoring of data packets Write a program to view the data stream between the on board PC and the Mobile Robot This should show either decimal or hexadecimal bytes in the data stream as well as what the data represents in human language Hardware oriented projects Add video camera How will you resolve issues related to adding a video camera to the Mobile Robot Where should it be mounted and why How will you handle bumps and jiggles while the Mobile Robot is in motion Can you mount an independent tilt pan control so that the entire robot need not be turned How will you implement control of the camera and reception of the data stream from it Do you need a routine equivalent to localizing Can you change various color and polarized filters Add new positional or navigational sensors Can you add laser guided sensors for navigation Should these sensors be mounted on the robot or in the workspace Should the control of these sensors be local that is handled by the robot or should it be handled by the workstation running SCORBASE Can you implement sensors to follow magnetic striping on the floor Can you integrate other technologies for positioning such as electrostatic sensors optical sensors and zebra striping or solid color striping Add other sensors Can you integrate sensors for various environmental conditions such as ambient light
21. used to control the Mobile Robot over long paths What applications could benefit from this sort of control Change in Center of Gravity If the Mobile Robot takes on a new load its center of gravity changes It may be higher or lower than normal and it may be more or less off center How will you modify the movement controls to deal with these situations Optimization of speeds How would you determine the best speed for operation for various tasks such as transport of objects of varying weights and homing or localization Can you write your program to adapt without human intervention Communications oriented projects Communication and control of multiple robots on one system What steps are necessary to run more than one robot on a single system If a second mobile robot is introduced to take half the workload what changes must be made to the workstation control scripts ER 400 AGV Mobile Robot User Manual 38 Optional Research Projects 0606 intelitek Sensor polling and reporting Write a control script to periodically query the Mobile Robot s sensors Develop methods of receiving both analog and digital replies Command normalization Write a routine to convert integer degree measurements to the values required by the on board specifications and to convert speeds of 1 10 to the numbers required for left and right turns Initialization Write a routine to perform diagnostic checks at power up and to shut down
22. 0 Forward 10 vi Drive reverse after Bumper Event Reverse Turn deg Right 380 eo Turn D Select the distance and the speed and click the button labeled Forward You can also set the ultrasound threshold which is the distance at which the Mobile Robot stops and sends an Ultrasound Event message to the AGV Device Driver on the laptop computer When the AGV detects an obstacle with its Bumper Guard or its ultrasound sensors it stops broadcasts an audio voice message and waits three seconds An appropriate status message is displayed at the bottom of the screen When the obstacle moves out of the way the AGV resumes its assigned course Without custom programming it does not go around mek Se ae ae ee No response from mobile robot controller IC Program Files Intelitek SCORBASE AGVACIMFlex Ww S 1 ER 400 AGV Mobile Robot User Manual 21 Operation 0606 intelitek Turn Select the number of degrees to turn a positive integer up to 180 Select a direction right or left and a number between I and 10 for Speed Click Turn to send the command to the Mobile Robot Stop Click the STOP button to stop the AGV before it reaches the destination you have set for it As an alternative you can press the F5 key on the PC which is running the AGV Device Driver Reverse The Reverse button functions only after a Bumper Event has been detected It causes the AGV to back up 10 cm on its path without turning
23. 00 The connection is located above the right hand battery Lift the left hand battery and re set it to force a reset of the ER 400 system The unit goes through a Power On Self Test for about 4 seconds and plays a short melody to indicate success Connect the other end of the RS 232 cable to the RS 232 USB Adapter provided with your robot Tighten the screws with a small slotted head screwdriver Finally plug the USB connector into the appropriate port on the on board computer Note if your on board laptop computer does not have a USB connection consult Intelitek technical support for the proper installation procedure ER 400 AGV Mobile Robot User Manual 12 Assembly and Installation 0606 intelitek Connection to Network The user must have some means of connecting the AGV Mobile Robot to the workstation In a small system this may be accomplished by a simple peer to peer connection by means of wireless interface cards not provided by Intelitek If you intend to integrate the AGV into a CIM system or other LAN network you must use a Wireless Access Point and enable all necessary devices If you want to control the AGV from a desktop computer you can operate it within the reach of the flexible USB cable provided However it will be more convenient to operate it over a wireless connection Software Installation Software Overview Generally speaking software which can control your ER 400 Mobile Robot falls
24. ER 400 AGV Mobile Robot User Manual Catalog 4100394 C June 2006 intelitek gt intelitek Copyright 2006 Intelitek Inc Catalog 100394 C June 2006 Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness is made or implied Intelitek is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Intelitek bears no responsibility for errors that may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice INTELITEK INC 444 Fast Industrial Park Drive Manchester NH 03109 5317 Toll free sales 800 777 6268 Tel 603 625 8600 Fax 603 625 2137 Web site www intelitek com e mail address info Qintelitek com ER 400 AGV Mobile Robot ii User Manual 0606 intelitek Intelitek ER Series Limited Warranty Intelitek warrants to the original purchaser that the ER series Product is free from defects in materials and workmanship when used under normal purposes for a period of 12 months beginning from the date of purchase Product accessories including replacement batteries are warranted for a period of ninety days from the date of purchase This warranty provides for the cost of parts and labor to repair covered defects when
25. P subroutine as displayed in the Program Window of SCORBASE S Program Untitled E BK 1 Set Subroutine ON STOP 2 Send Message STOP to Device Driver ID 2 _ 3 Return from Subroutine Backward The Backward command can be sent after a Bumper Event has been detected It functions exactly like the Reverse button in the AGV Device Driver interface window See page 22 Send Message Send To Device Driver v Device ID 2 v String BACKWARD Cancel Localize SCORBASE uses this command to correct accumulated navigation errors It requires three parameters X Y and Theta These parameters represent ER 400 AGV Mobile Robot User Manual 30 Operation 0606 intelitek the ACTUAL location and orientation of the Mobile Robot in reference to the Cartesian coordinate system defined by the Home position X and Y are given in millimeters note the difference from the AGV Device Driver and Theta is given in degrees This data can be obtained by using a camera and ViewFlex software The following example demonstrates use of the SM dialog box in SCORBASE to send a message to the AGV In plain English the message means AGV your current location is x 998 mm y 123 mm and you are turned at 89 degrees heading Send Message Send To Device Driver vi Device ID Rx String LOCALIZE 998 123 89 Cancel Once the Mobile Robot has thus been instructed as to its actual location it can be directed to move to its original
26. Weight 19 kg including two 3 kg batteries e Payload Up to 1 0 kg Power e Two 12V 7AH sealed lead acid rechargeable batteries e Average work time per charge 5 hours of continuous operation e Charging time 8 12 hours e Battery life 250 hours of operation Controller e Hitachi microcontroller Drive e 2 wheel drive two 2 Amp motors with odometers e Rear caster with elevation sensors e Maximum speed 40 cm sec e Minimum turn radius 0 cm Communications e RS 232 serial port with USB adapter e 5 IR receivers for remote control e TCP IP from on board PC or Pocket PC Devices Available for User Programs e Analog and digital I O e 3PWM connections ER 400 AGV Mobile Robot User Manual 8 General Information 0606 intelitek Control Software e Workstation SCORBASE for Mobile Robot version 5 0 1 or newer e On board PC AGV Device Driver version 1 0 0 17 or newer e Diagnostic Toolkit version 1 1 or newer e On board control software version 06 06 05 or newer Sensors e 10 ultrasonic sensors with resolution 5mm e 18 analog sensors including 1 optical Position Sensitive Detector PSD e 9 infrared sensors e 15 digital sensors Safety Features e Touch sensing bumper responds to force of less than 100 g e 3 stair detectors robot stops operation upon detecting a stair e CE approved ER 400 AGV Mobile Robot User Manual 9 General Information 0606 intelitek On Board Laptop PC Specifications
27. ace detection Sleep Child lock Bumper B Drive Door N bumper N C D N bumperN O D r Ultrasound Wheels stuck Charging Motion control Ultrasound All monitors Virtual wall Motors Pull Line Drive motors Suction B Brush a All payloads E Behavior Local Global Virtual wall Global data hee U EEE EVE EEE Brush rotation speed Auto Low High C C Ki Menu Get settings from Friendly Vac ER 400 AGV Mobile Robot User Manual 49 Maintenance 0606 intelitek Appendices A Research Kit Control Functions B Telemetry Functions C Robot Messages to PC ER 400 AGV Mobile Robot User Manual 50 Appendices 0606 intelitek Appendix A Research Kit Control Functions see page 26 for details Function Param1 Param2 Param3 Param4 Param5 Param6 Param7 Param Notes Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 9 Byte 9 11 Byte 10 13 Byte 11 14 Navigation left 2 1 CHK CHK 65 Navigation right 2 2 CHK CHK 64 Navigation forward 2 4 CHK CHK 62 Navigation reverse 2 8 CHK CHK 58 Vacuum motor 4 0 0 98 CHK Param3 speed 0 stop Vacuum brush 4 1 0 98 0 1 CHK Param3 speed 0 stop Param4 0 forward 1 reverse Drive motor stop 4 2 1 0 0 CHK CHK 59 Forward 4 2 0 19 0 359 0 65535 1 1000 CHK Param4 speed Param5 heading in degrees 2 bytes Param6 distance in cm 2 by
28. ached to the body of the robot The Payload Shelf must be installed by the user Attach the Payload Shelf supports to the top of the on board PC shelf using the two M5x20 Allen screws provided The Payload Shelf itself comes already assembled with its two vertical supports The screws must be driven with an Allen wrench Hold the Allen wrench as shown using only the short end to tighten the screws Be careful to avoid overtightening Note that if desired the Payload Shelf can also be installed at an orientation 180 degrees from what is illustrated If desired install a non skid surface for the on board PC to rest on or secure it in place with Velcro strips or a strap belt or elastic band Attach two adhesive arrows to opposite sides of the AGV and two more to the floor at the AGV s home location See page 22 for more detailed instructions ER 400 AGV Mobile Robot User Manual 11 Assembly and Installation 0606 intelitek Installation of On Board Computer Follow the manufacturer s instructions for the setup and installation of the on board laptop computer Charge the batteries if necessary Secure the laptop in place on the on board computer shelf Open it and boot it up Connection to On Board PC Make sure that the ER 400 is not charging and that the Mode Selector is in the PC Control or SPOT position Position 1 One end of the serial communications cable resembles an audio plug Plug it into the ER 4
29. attempting to open this project CIM Software CIM Computer Integrated Manufacturing software is used to control a number of independent workstations from a single central computer It sends control messages to the SCORBASE software running on the workstation and receives status messages which it can use in making program control decisions Contact Intelitek Sales for availability See page 32 for more information ER 400 AGV Mobile Robot User Manual 18 Assembly and Installation 0606 intelitek 3 Operation The ER 400 AGV Mobile Robot can be operated either manually or under the control of a computer In either event the Operation Mode Selector must be set to ON position 1 The unit may not be operated while it is being charged Be sure to disengage the AC power supply before attempting to run the Mobile Robot Manual Mode Turn the Operation Mode Selector to ON position 1 Pull on the Pull Line cord until the AGV either moves forward or turns In this mode the AGV can be towed to any unobstructed area on the work floor The AGV design can negotiate past small variations in the floor such as between a bare floor and a carpet Loose electrical cords however can cause the unit to turn slightly even though it may succeed in getting past them This can interfere with tracking and navigation Therefore care must be taken to clear the floor of such items and secure them out of the way so that they can not be di
30. avigation commands Function Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Notes Stop 170 5 11 1 CHK CHK 68 Acknowledgements Function Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Notes Drive command received 170 7 11 5 1 0 CHK CHK 68 Drive command completed 170 7 11 5 2 0 CHK CHK 67 170 7 11 5 r CHK Byte 6 1 bumper event 2 stair event 3 desired distance reached 4 ultrasound event 5 desired heading reached 6 wheels stuck event Global command received 170 7 11 5 3 0 CHK CHK 66 Global command completed 170 7 11 5 4 0 CHK CHK 65 Telemetry responses digital Function Byte Byte Byte Byte Byte Byte Byte Byte Byte Bytes 10 n Byte Notes 1 2 3 4 5 6 7 8 9 n l Odometer 170 34 11 3 2 0 0 0 10 11 heading 0 360 CHK 12 15 cumulative distance cm 16 19 L odometer fwd ticks 20 23 R odometer fwd ticks 24 27 L odometer rev ticks 28 31 R odometer rev ticks 32 L motor direction 0 fwd 1 rev 33 R motor direction 0 fwd 1 rev ER 400 AGV Mobile Robot User Manual 53 Appendices 0606 intelitek Left nozzle bumper 170 11 11 16 CHK Byte 10 1 pressed Right nozzle bumper 170 11 11 0S 32 CHK Byte 10 1 pressed Stair sensor 170 11 11 CHK Byte 10 1 left stair
31. away from heated surfaces e Use only the batteries and charger supplied by the manufacturer e Do not sit or stand on this device e Hold the Pull Line when rewinding Do not allow the Pull Line to whip when rewinding e Always use the carry handle to lift the unit not the bumper guard ER 400 AGV Mobile Robot User Manual 2 General Information 0606 intelitek Unpacking Use care when unpacking your new ER 400 Mobile Robot Do not cut the carton 1 Remove small parts from the top of the shipping carton 2 Gently remove the large flat Styrofoam packing insert from the front of the box and remove the two foam spacer bars from underneath the On Board PC shelf 3 There are two large pieces of formed Styrofoam protecting the body of the Mobile Robot Tilt the smaller of the two pieces toward you and guide it gently out past the On Board PC shelf Gently lift the Mobile Robot out of the carton Use only the aluminum lifting handle to support the weight of the Mobile Robot Do not put any pressure on the Bump Guard also called Bumper or Bump Sensor which occupies most of the front of the unit See page 6 for a diagram identifying the parts Gently tip the unit onto its back Remove the two protective plastic strips from the Bumper Guard ER 400 AGV Mobile Robot User Manual 3 General Information 0606 intelitek Inspection for Acceptance Verify that you have received all parts listed in the Pa
32. ble software programs include e MATLAB e Lab View e CIM Manager Examples of suitable programming languages include the following e CHC C e Visual Basic e Java Please contact Intelitek Sales for current availability of optional software to work with the ER 400 On board laptop software ATEN USB to Serial Bridge This software contains the drivers for the RS 232 USB adapter It is only needed if you are using the USB port on your on board laptop or your desktop PC Make all the physical connections and wait to see whether Windows detects a new USB device If it succeeds make note of the COM port which is assigned to the device Restart the computer To install the adapter driver manually from the CD ROM follow the on screen instructions You may also download the driver from the manufacturer s website http www aten usa com support_df amp Item UC232A display Refer to the manufacturer s user manual or contact Intelitek technical support for more information Software Configuration USB The AGV Device Driver communicates with the Mobile Robot through a COM port However the AGV DD is not able to automatically detect which port is being used by the ATEN USB to Serial Bridge The following procedure ensures correct identification of the COM port and configuration of the AGV Device Driver ER 400 AGV Mobile Robot User Manual 14 Assembly and Installation 0606 intelitek 2 Device Manager BAL On the o
33. bottlenecks What routines could you develop to identify bottlenecks in a production line If one of the bottlenecks is a mobile robot how can the problem be solved What trade offs are there in terms of robot down time and recharging of batteries How is your analysis affected by batteries working at marginal power levels How would you use AI routines to develop alternate routes and sequences Environmental changes If your robot application is designed to navigate or collect data by means of a video camera or other optical sensor how will your application adapt to changes in the ambient light Such changes could come from nightfall failure of one or more light bulbs general power failure malicious mischief or changes in color of wall paint Path resumption A security robot could be deliberately moved off of its path by an intruder What routines would you devise for it to return to its path Could these routines be generalized to accommodate any type of navigation system such as magnetic striping laser guidance or optical landmark recognition How would you determine which navigation system is most successful at recovery How will you deal with the situation where a robot is simply turtled turned on its side Sensor oriented projects Use on board camera or other sensors for obstacle avoidance Use a variety of sensors in conjunction with an on board camera to determine the most effective way to detect different types o
34. d docking A station to station path may have as many intermediate points as necessary and is used to get the Mobile Robot as close as possible to its actual destination A docking path basically consists of a single point and is used only after the Mobile Robot has been localized Accordingly a logical naming convention is to name the station to station paths with the numbers of the start and end points for example 21T052 Since the docking paths only have a destination point a name with only the number of that point is best for example DOCK52 Remember that the first point on any path is actually its current location Any navigational errors are adjusted by the localization procedure Saving AGV Position File All of the data collected in positions and paths can be saved in a file on your laptop computer s hard disk From the File menu select Save or Save As and choose a unique filename By default the resulting file is saved in the subdirectory the Device Driver was launched from The Device Driver automatically appends an APF file extension The file is a plain text file which can be viewed and edited with a simple word processor such as Wordpad Note that the Device Driver can only hold one file open at a time though there is no limit to the number of points and paths that a single file can hold ER 400 AGV Mobile Robot User Manual 25 Operation 0606 intelitek Localizing As the Mobile Robot moves along its desig
35. e 0606 intelitek 6 Inthe AGV Device Driver load the AGV Position File you need to use and in SCORBASE load the script file you need 7 If you wish to conserve battery power in the on board laptop PC turn off the monitor screen Periodic Inspection Stair Sensors Wheels If the stair sensors have been enabled accumulated dirt may interfere with AGV operation The two sensors are located on the bottom of the ER 400 Wipe with a clean soft cloth Stair sensor Stair sensor Check the wheels for signs of undue wear particularly signs of flat spots Clean the contact surface of dirt and any foreign objects that may have gotten lodged in the treads Turn the AGV gently onto its back and inspect for any hair fiber or other material that may interfere with the axles Bumper Guard Noises Place a small object weighing at least 100 grams in front of the AGV and tow the AGV with the Pull Line cord until it makes contact If the Bumper Guard fails to stop the AGV check to see that it can move freely in and out If this does not resolve the problem call your service center Follow the unit as it pursues one of its assigned paths and listen for any unusual noises ER 400 AGV Mobile Robot User Manual 45 Maintenance 0606 intelitek Battery Storage If you plan to leave the ER 400 AGV out of operation for a few days charge the batteries fully and station the AGV in a secure loca
36. ed for future use by the Device Driver each time it is loaded AGV Project Files The AGV project files contain the definitions of the positions and paths available to the Mobile Robot The project files are not part of the installation disc but are created by the human operator and saved by default into the subdirectory from which AGVDD EXE is launched These files will be assigned an APF ER 400 AGV Mobile Robot User Manual 16 Assembly and Installation 0606 intelitek extension They are plain text files and can therefore be viewed and edited with a simple word processor such as Wordpad AGV Device Driver Messages file The AGV Device Driver uses a special configuration file for the text of audio alerts played through the speakers of the PC which is running the Device Driver and also status messages displayed at the bottom of the user interface window This file is named AGVDD ENG and is located in the same directory that the AGVDD program is launched from It is a plain text file which means it can be viewed and edited using WordPad The audio alerts are generated automatically from the text in the voice_messages section However you can substitute an actual sound file using the following procedure 1 Create a Voice subdirectory at the location where AGVDD ENG is located normally C Program Files Intelitek SCORBASE AGV BIN 2 Place the WAV or MP3 file in the Voice subdirectory 3 Insert the name of the sound
37. eft nozzle bumper 3 16 0 0 0 CHK Right nozzle bumper 3 32 0 0 0 CHK Stair sensor 3 0 0 2 0 CHK 2 infrared sensors Control Panel Buttons 3 g 0 0 4 0 CHK Leash Pull cord 3 ij 0 0 8 0 CHK Door 3 k 0 0 16 0 CHK 2 infrared sensors Infrared receivers 3 0 0 32 0 CHK 5 sensors for remote control Charging Plug 3 Z 0 0 64 0 CHK Analog Sensor Polling Functions Function Param1 Param2 Param3 Param4 Param5 Param6 Param7 Param8 Notes Byte 4 Byte 5 Byte6 Byte7 Byte8 Byte9 Byte 10 Ultrasound sensors 3 1 0 0 0 CHK Param2 message rate 50 ms increments Left bumper 3 4 0 0 0 CHK Right bumper 3 8 0 0 0 CHK Nozzle height 3 il 64 0 0 0 CHK Charging voltage 3 128 0 0 0 CHK Vcc voltage 3 0 1 0 0 CHK Ambient temperature 3 0 2 0 0 CHK Brush elevation 3 0 4 0 0 CHK motor current Right motor current 3 0 8 0 0 CHK Left motor current 3 0 16 0 0 CHK Selector position 3 0 32 0 0 CHK Front stair PSD 3 0 64 0 0 CHK Humidity 3 0 128 0 0 CHK Battery Voltage 3 0 0 1 0 CHK Charging temperature 3 0 0 128 0 CHK Left battery thermistor 3 0 0 0 1 CHK Right battery thermistor 3 0 0 0 2 CHK ER 400 AGV Mobile Robot User Manual 52 Appendices 0606 intelitek Appendix C Robot Messages to PC Stop notification is sent when any of the following occurs e STOP button in the IR remote was pressed e STOP button in the robot s control panel was pressed e Stair or Bumper events were detected during n
38. elete button to remove the point from the list of points already defined Building Paths A path is a set of one or more defined points with speeds selected for the segments that connect them By definition the first point on any path is the Mobile Robot s CURRENT location Following the numbering scheme in the Path Building subpanel the current location would be List Position number zero Path Building Path Name List Positions 177018 v Number Speed 2 7 10 3 8 10 4 118 h 2 5 10 v Build Path Delete Path Run Clear Distance counter cm Heading deg Theta deg Select a descriptive name for the path and type it into the Path Name box In the List Positions box click in the cell in the column labeled Number which corresponds to the position you want to add This causes the appearance of a down arrow Click on it to see a drop down menu with all of the positions you have defined with the Teach command Select the desired position number The number is then automatically copied into the cell If you need to delete a point select the blank from the drop down menu for that position es You must also select a speed on the path segment TO speed a the selected point The default is 10 which is the 10 fastest speed To select a slower speed click on the corresponding cell in the Speed column A down arrow 1 will be displayed Clicking on that will produce a drop down menu of the availab
39. ents osasanncsncacaaien sesancecunvsiesuseanendend oaaxeananjeacanenentendstaeantainds 21 HOMIE EE ER EEE 22 Programmed pathg ausavesseosssmnnsekuge aker R AE 23 ken vr 26 PE eee 26 Integration with Computer Workstation rrrernrronrrrnnrnrnrrrrrrrrnrrrnnrerrrrrrrsrsnnesrnneen 28 SCORBASE rd dd 28 Mobile Kobro 31 Int gration sik CM 3s scssssreccvedanncasthccanesacasadesgbivneitesidecsniavaensinnsiaceseeauntouanunindeanss 32 GL RE KE E A SEEE 32 Network SP re 33 Chapter 4 Optional Accessories 34 ER 400 AGV Mobile Robot iv User Manual 0606 intelitek Chapter 5 Optional Research Projects 35 Project SOOT RR snd A E EEES 35 Software oriented projects scccussiuissasdsducpoiadccanseteex ta ssvhexeeutasedmasaielantecnecemsssadinatilens 36 Add SG EEE ERE 36 Implement map creation and map based navigation soeenoronrrvrnrnrnrnvrrnrrnn 38 Remote control Over the web cccsissccsaasccsascnasctes seanacansnsesasenasansescsnacsauntens 38 Interface with Matlab LabView rrorvvnnnrnssnsrsnnrrrnnnnnsnnsssnsrnnrrnrnenessrsssnnnn 38 Change in Center of Gravity siccisssaccannisiccenassiccrtarasuimalancxantacuccunsiconcaaineens 38 Optimization of speeds o cccsinasencansssmncsvuncentsnsnnstisnendvaeancnsvactneasoatensanidersanses 38 Communications oriented projects sseseesseeseeseesseeseesresstesrtsensstesseserssressessrssees 38 Communication and control of multiple robots on one system 38 Sensor
40. f objects Use AI routines to test alternate methods of avoiding such objects and determine which is most efficient Use on board camera for landmark navigation Use image processing routines to identify unique landmarks and note their locations on a workspace map Create routines to identify the objects from different angles and distances Use on board camera to determine when an obstacle has been encountered ER 400 AGV Mobile Robot User Manual 42 Optional Research Projects 0606 intelitek Implement line following application with existing or new sensors The Mobile Robot has sensors which permit it to follow a wall or contour Develop a routine to map routes along walls allowing for the fact that doors may be open or closed Adapt the stair sensors to allow the robot to follow some type of guide marking along the floor Use an on board camera to follow a painted stripe or cracks in a tiled floor Implement precise homing or docking Using existing or new sensors develop a routine to place the robot at a precise point with a precise orientation Do not use brute force Or use brute force Can you develop an AI routine to keep track of the adjustments required and make more efficient adjustments For example if the robot always ends up at its HOME station 10 cm to the north your first adjustment may be to simply turn move 10 cm and turn to the right orientation If that repeats enough times however it may be more efficient
41. hild Lock indicator light goes out On Board PC Control The ER 400 is designed to be controlled by computer Ordinarily the on board laptop computer is used for this purpose However by connecting the USB cable directly to your desktop workstation you can bypass the on board PC for troubleshooting or setup When issuing distance commands to the Mobile Robot pay attention to the length of the cable To control the AGV with a computer set the Operation Mode Selector to the first position labeled PC Control On some models this position is labeled SPOT When set to PC Control the LED display window reads CL1 While a PC controlled program is in progress the display window changes to a moving wave pattern ER 400 AGV Mobile Robot User Manual 20 Operation 0606 intelitek The Mobile Robot Device Driver is the software used by the on board laptop computer Its dialog box interface provides several methods of interacting with the AGV Ensure that the operation mode is set to Online The other settings labeled Simulation and Standalone are reserved for future use ed Operation Mode Online v Messages ooo EE SSS eee Individual Movements Forward By clicking on the appropriate buttons in the upper left subpanel you can issue individual motion commands to move turn or stop P AGY Device Driver File Settings Tools Help Drive forward cm Ultrasound threshold mm Speed 100 35
42. hold Malfunctioning stair sensor Clean or disable stair sensor Robot rotates and changes direction in the middle of the room for no reason Directional system false alarm Clean the bumper screen ER 400 AGV Mobile Robot User Manual 47 0606 Maintenance intelitek Pull Line cord does not Faulty Pull Line cord Contact Service Center retract Pull Line cord does not pull Pull Line cord has been dis Retract the Pull Line cord out abled during startup remove and re install the batteries Pull Line cord does not pull Faulty Pull Line cord Contact Service Center out Repacking for Shipment There are several occasions that may require the Mobile Robot to be shipped The user may be moving to a new location transporting the Mobile Unit for display or demonstration in a remote location or returning it to the manufacturer or dealer for service If the unit is to be stored for long periods of time the manufacturer highly recommends packing it as if it is to be shipped The best way to pack the unit for shipment is in its original box with its original packing materials For this reason you are advised to keep those materials Unless instructed otherwise by your supplier you must pack all parts together including the AC power supply batteries and cables Each unit must be wrapped in heavy plastic and placed so that movement in shipment will not ca
43. idth level and free of all types of obstacles There must also be one or more designated places where the system may perform a periodic localization operation to reset the mobile robot s coordinates ER 400 AGV Mobile Robot User Manual 32 Operation 0606 Network Setup intelitek Finally adequate provision must be made for charging and or replacement of the batteries of each mobile robot and its on board computer In a normal configuration the CIM Manager has no direct communications with the Mobile Robot This function is performed exclusively by one or more of the workstations For testing or debugging purposes the CIM Manager can be configured to send commands directly without an intermediary The CIM administrator may design a configuration which places the AGV at the disposal of two or more workstations Please consult your systems administrator for assistance in setting up network communications The CIM Manager computer should be named CIM MANAGER The workgroup should be named CIM Each workstation should be named CIM PCx where x is a unique number assigned to each workstation If there is more than one AGV on a CIM network each must have its own device ID number assigned by a trained installation technician The device ID numbers for CIM are distinct from the device ID numbers for other purposes such as LAN identification CIM installations require a Wireless Access Point to integrate the AGV into the CIM networ
44. k Other types of networks may or may not need such a device Please consult with Intelitek technical support for assistance in purchasing installation and configuration ER 400 AGV Mobile Robot User Manual 33 Operation 0606 intelitek 4 Optional Accessories Currently Available Check for Availability Spare Batteries pair GPS Stand alone battery charger Compass 3 Year Extended Warranty Laser Rangefinder Extended Project Support calls in sets of 5 On board robotic arm calls after the first 5 complimentary calls See page 35 ViewFlex Machine Vision system Software interface for MatLab or LabView including ViewFlex software color PC camera camera mount stand ViewFlex Color Pan Tilt Camera Simulation Navigation and Control software system PAL or NTSC including ViewFlex software color Pan Tilt camera camera shelf bracket CIM Integration package Safety Lamp ER 400 AGV Mobile Robot User Manual 34 Optional Accessories 0606 intelitek 5 Optional Research Projects The following projects are suggested as ideas for students of high school or college level computer programming or robotics courses Ideas suggested for one project may be appropriate for other projects as well The source code for the AGV Device Driver is provided on your installation CD in the subdirectory named Mobile Robot ER 400 Programming interface To build an executable file you must have Micros
45. le speeds between 1 and 10 Because the Mobile Robot generally has more precise position control at slower speeds the last segment on a path should usually be slower than 10 By experimenting you will find the best values for your application ary u gt OON OBS wh If you make a mistake at a position you can select the correct point for that position and the mistake will be automatically replaced To clear all ER 400 AGV Mobile Robot User Manual 24 Operation 0606 intelitek the points listed for a path click the button labeled Clear It may be a good idea to delete any points that are not needed for any defined path When you are satisfied that all points are listed in the correct order click the button labeled Build Path This action saves the path in the laptop s memory but not on its hard disk You can then cause the Mobile Robot to follow the entire path by selecting the path name in the Path Name drop down box and then clicking the button labeled Run As the Mobile Robot pursues the path you can click on the buttons labeled Pause and Continue Pause makes the AGV stop at the end of the current path segment and Continue allows it to resume following the rest of the path The D button causes an emergency abort Clicking on the Continue button after the Stop button causes the AGV to resume its previously assigned course Naming Paths Ordinarily the paths you define will be of two types station to station an
46. ly intended destination by means of running a docking path See page 25 The system designer needs to determine how often the Mobile Robot needs to be localized For more information on localizing see page 26 Mobile Robot messages On receipt of a command from SCORBASE the Mobile Robot responds with a transparent Command Acknowledged message This does not show up in the Messages window When the Mobile Robot has completed its assigned task it sends a RUN AGV DONE message to the workstation On receipt of this message SCORBASE runs a user defined subroutine such as AGV_DONE If the AGV encounters a problem which prevents it from completing the task the AGV Device Driver sends two error messages to SCORBASE one signaling that an error has occurred and the other consisting of a code number which indicates the type of error SCORBASE stores the error number in the variable AGV ERRNUM and runs the subroutine named AGV_ERR The following table provides the meaning of each of the error codes ER 400 AGV Mobile Robot User Manual 31 Operation 0606 intelitek I Bumper Event 6 Wheels Stuck Event 2 Stair Event 100 Robot Controller Not Responding 4 Ultrasound Event 101 Invalid Pathname The following simple situations can cause the generation of Error 100 Robot Controller Not Responding e Batteries for either the Mobile Robot or the on board computer may be low dead or not properly seated
47. magnetic interference electric fields infrared radiation at various frequencies air temperature humidity smoke detector or a sniffer ER 400 AGV Mobile Robot User Manual 39 Optional Research Projects 0606 intelitek for specific chemicals How will you deal with the differences between analog and digital sensors Can you design a sort of universal bus to accommodate numerous different types of sensors as might be required by different users of the robot Move existing sensors The Mobile Robot presently has dozens of various sensors distributed throughout its body Can you find other uses for any of them and move them to a more suitable location What changes in the polling and reporting routines are needed for communications between the Mobile Robot and the workstation Can any of the sensors be modified for use by the on board computer How do you plan to deal with problems associated with disconnection of sensors from the existing system Experiment with travel surfaces and wheel materials Is there a difference in the recording of positional data by the on board odometers when the Mobile Robot moves on different surfaces such as concrete or wood or carpet Is there a way to modify the wheels to minimize these differences Do you get different results with tread made of rubber or silicone or plastic spikes from furniture cups or casters Does the margin of error in the odometers change in a predictable way such that software p
48. ment line following application with existing or new sensors 43 Implement precise homing or docking sumuensseamsanessassrssasrssnssvmsse 43 Chapter 6 Maintenance 44 D ily Mai Stv anne ass sacesasyedeastansondaossadacshasdeacseguidientangocsmaeabexsbavtesespouedessbssswedenanness 44 Periodic DAS MCCTIOM vauciacassdineccsnnsdscucsds aN EEE EE EE ORR 45 Troubleshooting EN NN NE 46 Repacking for Sp rs Ne 48 Advanced Troubl sh otns uuausnmnannatnivigtnhmmn nende 48 APPeENndces re 50 ER 400 AGV Mobile Robot v User Manual 0606 intelitek ER 400 AGV Mobile Robot vi User Manual 0606 intelitek 1 General Information The instructions in this manual are for the ER 400 AGV Automated Guided Vehicle Mobile Robot only Description The ER 400 Mobile Robot is a versatile and cost effective Automated Guided Vehicle AGV With its open architecture superior performance and complete reliability the ER 400 performs either independently or integrated as part of a multi robot application It is ideal for a wide variety of research projects and functional applications The ER 400 offers a ready made platform for student projects advanced robotic education and competitions Research topics are limited only by the student s imagination artificial intelligence digital communications path planning real time programming and remote viewing and operation The ER 400 provides a highly versatile alternative means of
49. mining whether it is better to follow the precise same path as the leader or to follow a line of sight path Can you devise a routine for the leader to evade the robot following Can you devise routines to deal with temporary loss of communication with the leader or temporary disappearance from sight Data collection and optimization Can you use different types of sensors to collect different types of data then use the data to develop and optimize a response Develop AI routines to determine whether changes in ambient light are better than ultrasound or infrared detectors at locating intruders Compare this data to data collected from other types of sensors Perform task in natural environment deliver assist Can you devise a method for the robot to perform a task with uncertain outcome and determine whether the task has succeeded Can you give the robot some routines for determining an alternate course of action If ER 400 AGV Mobile Robot User Manual 41 Optional Research Projects 0606 intelitek one tool fails to achieve the desired result how will the robot determine which other tool to try If one tool could ruin the material under what circumstances would you want to try it anyway Under what circumstances would you want the robot to refuse to begin the operation If the robot is given a mostly repetitive task what routines would you use to determine whether prior successful strategies should be tried again Identifying
50. n board PC open the Control Panel Click Fle Action View Help on the System icon to access the System Properties lt gt 8 8 amp 6 2 SR dialog box Click on the Hardware tab In the 2 Pc i Computer Device Manager subpanel click the button for i Device Manager This opens up a directory tree Ge el Select the node that reads PORTS and open it 2 Floppy disk drives Take note of the COM port number that has been IDE ATAJATAPI controllers Keyboards assigned to the ATEN USB to Serial Bridge e Mice and other pointing devices hee A If the Device Manager displays a yellow TA Ports cona LPD ot exclamation mark either you have not rebooted ATEN USB to Serial Bridge COM3 gt eien your machine or there is a problem with the port Printer Port LPT1 If rebooting does not eliminate that mark contact Sound video and game controllers ces devices Intelitek technical support Universal Serial Bus controllers AGV Device Driver This is also called the Mobile Robot Device Driver Its purpose is to transmit commands to the AGV from either a human operator or a control program Installation of the AGV Device Driver is done automatically along with the installation of SCORBASE Insert the CD ROM and follow the on screen instructions When you are asked which version of SCORBASE to install select SCORBASE for Mobile Robot Installation Please select software RoboCell for ER 2u RoboCell for ER 4u
51. n function for curve trajectories Are there advantages in using such functions to make turns instead of the sharp angle turns involved in a point to point path definition Are there ER 400 AGV Mobile Robot User Manual 37 Optional Research Projects 0606 intelitek limitations on when such a trajectory should be used and what control logic should be used Can you find a way to change the orientation of the Mobile Robot while it is still in motion thus permitting travel along curves with changing radius Implement map creation and map based navigation How would you use the robot to collect and record data by patrolling a previously unseen workspace Are there limitations such as available lighting which would impact this data collection process Can you use an on board video camera to collect visual data as well How would you organize and display this data for maximum readability Remote control over the web How would you interface the control software to direct the Mobile Robot from a remote location Can you direct the Mobile Robot to automatically dial the telephone and issue an audio command Under what circumstances would you want to use a video camera mounted on the Mobile Robot to transmit images over the web Interface with Matlab LabView Can you design an application which uses Matlab LabView or ViewFlex to direct the motion of the Mobile Robot Would your application be limited to periodic spot checks or could it be
52. n the Mobile Robot Where would you locate it Would you mount it on a robotic arm or make it part of a toolkit available for the robotic arm Al oriented projects Interaction with human Can you program the robot to learn the different habits of each human it encounters such as where in the building he or she is likely to be found at any given hour Can you program it to deliver beverages according to the taste preferences of each person and at the times each person usually responds yes to queries Can you program it to interface with humans via an office telephone system or by face to face voice commands Can you program it to ask questions by means of sound files and collect the answers by means of a hand held infrared device such as a television remote control Can you program it to send calls for help to cell phones and accept input from the telephone keypad Multi agent group robotics Can you transmit data collected by one robot to another then use that data to make decisions If one robot detects an intruder how will you optimize the response of the other robots to go from their current location to their emergency station If one robot drops out of communication with the network what responses will you develop for the remaining robots Can you develop diagnostic routines which cause multiple robots to play Follow The Leader with varying degrees of spacing different speeds and different routes Develop criteria for deter
53. nated paths minor navigation errors affect its precise position These errors may result from humans irregularities in the floor surface changes in balance or center of gravity stops caused by unexpected obstacles or mechanical imprecision The errors accumulate more quickly when the Mobile Robot is moving at higher speeds The system must have a means of correcting these errors This process is called Localizing Instruct the Mobile Robot to move to a known point When it has completed the movement a close check will show that it has made a small error Enter the AGV s actual coordinates and click on Localize Then instruct the AGV to Run the docking path for that point Navigation errors can also be corrected by software solutions A workstation running ViewFlex can process visual information from a camera to calculate the Mobile Robot s actual coordinates Other effective solutions might utilize magnetic strips lasers or ultrasound For more information on localizing see page 30 Packet Editor The Packet Editor is for advanced users only It is used to manually send a single command to the AGV The command is a packet or a short string of bytes sent through the communications ports Different commands require different byte string lengths The first byte is always 170 and the third is always 11 The second byte is the total number of bytes in the packet and the last byte is a checksum Packet editor param param2 param3
54. oft Visual C version 6 0 or newer The instructor should advise students carefully considering the goals of the course the scope of the work to be undertaken and the materials available Some projects are relatively easy and others are quite difficult The instructor should devise an appropriate scheme for determining whether the student has learned the required material Project Support As part of the ER 400 AGV Mobile Robot package Intelitek offers professional assistance to students in designing and implementing their projects Though armed with enthusiasm and creativity students occasionally find themselves frustrated by technical problems Intelitek feels that the best way to surmount such obstacles is with the assistance of professional engineers who work with the same issues on a daily basis The engineer may e suggest one or more solutions including solutions from third party sources e advise the student to modify the project in one or more particulars e counsel the student to find a project of a more suitable level of difficulty Included with the AGV package is a virtual card entitling the customer to five such calls free of charge Additional calls are available from Intelitek Sales Issues which actually relate to AGV installation maintenance technical support or service will not be charged against the Project Support calls Intelitek in its sole discretion retains the right to allocate a call to the
55. own as the Leash The Pull Line cord has four positions OFF fully retracted FORWARD fully extended in the AGV s forward direction RIGHT fully extended to the right of the AGV and LEFT fully extended to the left of the AGV Turn the Operation Mode Selector to ON position 1 To move the AGV pull on the cord in the direction desired and the AGV will move at a pre set speed To stop release the tension on the cord Do not allow the spring loaded retractor mechanism to whip the cord back into its retracted position This avoids jamming or other damage Instead hold the end of the cord and guide it manually until it is fully retracted The AGV may be lifted and moved using the handle portion of the payload stand as shown in the illustration This is the safest way to move the AGV without using its motors Ifyou use a hand truck be sure not to allow any pressure to be placed on the Bump Guard You must always be very careful not to apply any pressure to the Bump Guard which covers the entire front of the AGV The Bump Guard is a delicate moving part and is not designed to support the entire weight of the unit Similarly you must never use the Bump Guard as a handle for lifting ER 400 AGV Mobile Robot User Manual 0606 7 General Information intelitek Specifications Physical Characteristics e Dimensions e Diameter 43 cm e Height without payload stand 33 cm e Height with payload stand 87 cm e
56. pports with 2 screws M5x20 for attaching to On Board PC Shelf e One plastic template 2 Batteries AC Power Supply 1 220V Europe 2 220V UK 3 110V USA Serial Communication Cable RS 232 and USB to RS 232 Adapter 3mm Allen wrench Packet of adhesive arrows Velcro strips CD ROM This User Manual ER 400 AGV Mobile Robot User Manual 5 General Information 0606 Identification of Parts The following diagram will help you identify the various parts and controls on the body of the ER 400 AGV Mobile Robot Several of the parts are used only when the unit is configured as an automatic vacuum cleaner gOwW gt nr PHTH CONTROL PANEL lt M Carry Handle Pull Line Cord removed Battery Compartment under handle Bump Guard Operation Mode Selector Scroll Buttons Display Window Battery Indicator Light Check Display Light Stand by Light ER 400 AGV Mobile Robot User Manual 6 0606 OZ lt r Jawo intelitek Child Lock Light Start Button Stop Button Door and Table Sensors disabled Caster Vacuum Brush Drive Wheels Intake Nozzle Stair Sensors General Information intelitek Handling Instructions There are several ways to move the AGV by hand without the use of computer control programs l If the unit is functional and the batteries have power you can move it by towing it with the Pull Line cord also kn
57. robot from its can t find its way out trapped location Clear drive Drive wheels are jammed wheels ER 400 AGV Mobile Robot User Manual 46 Maintenance 0606 intelitek Control Panel E3 The Bumper Guard is caught Reposition robot and make or snagged on something or sure the Bumper Guard is robot is sitting on an uneven free surface E5 The Pull Line cord is not Make sure the Pull Line cord fully retracted is fully retracted before pressing START E7 Charging problem Make sure the charger is The charger is plugged into plugged into the wall mane sure the fuse or circuit the port but no voltage is breaker is set for the wall going to the batteries plug Try a new charger If the problem persists call your dealer Problem Possible Cause Solution Robot is non responsive and Robot has entered Sleep Press any button on the nothing displays in the Mode Stand By after a Control Panel or pull the message window there isa period of 60 seconds of Pull Line cord flashing red light on the inactivity Revise workstation control program to send a Dummy command periodically Short battery run time after a full charging session Battery batteries are damaged Replace both batteries Contact Service Center Robot not waking up Battery fuse is missing or burnt batteries are weak or dead Contact Service Center Robot avoids dark areas or thres
58. rogramming can reliably compensate for it Experiment with trailer The Mobile Robot s specifications indicate a maximum payload of I kilogram Can you devise a system to circumvent this limitation by towing a trailer Where would you mount the trailer hitch How will you deal with 90 degree turns Is there an appreciable effect on the traction of the Mobile Robot s wheels Does the speed of the unit in travel affect the cumulative errors in navigation as recorded by the on board odometers Same question in relation to weight of the payload in the trailer How will you deal with reversal of direction Can you devise an AI routine to deal with making 3 point turns Add on board robotic arm Where would you mount a robotic arm for maximum effectiveness of its work envelope How will you deal with changes in the center of gravity of the Mobile Robot Can you modify communications on the existing robot to transmit messages to and from the robotic arm Can you implement a separate infrared port to treat the robotic arm as a separate network device What uses do you envision for this add on Where would you store a tool kit for use by this robot arm and what tools would you put in it What sort of power supply and controller should be used and where should they be mounted ER 400 AGV Mobile Robot User Manual 40 Optional Research Projects 0606 intelitek Add laser bar code reader Can you integrate a laser bar code reader and mount it o
59. rts List on page 5 If anything is missing contact your supplier immediately Inspect all parts for scratches cracks or dents If you find any damage contact your shipping company and the manufacturer before attempting to install or operate the system Installation of Batteries The battery compartment is protected by a plastic dust cover Squeeze the latch and lift the cover to its Open position There is a small utility compartment in the middle with a place for one battery on each side The batteries are keyed so that they will only go in one way At the top of the key you can see the battery fuse This side is turned toward the center of the Mobile Robot unit Gently slide the batteries into place When the both batteries are installed properly the unit plays a short audible melody If you do not hear the melody either the batteries are not installed properly or they need to be charged If the system still does not respond after charging contact Intelitek technical support Battery Charging Manually plug the AC Power Supply into the battery charger port located in the bottom center of the back of the unit While the charger is working the Battery Light indicated by Arrow A flashes green ER 400 AGV Mobile Robot User Manual 4 General Information 0606 intelitek Parts List A ER 400 Mobile Robot e Assembled with On Board PC Shelf B Parts for Payload Stand e Payload Shelf assembled with 2 su
60. sized grid Use the data thus gathered to set up paths around the workspace Consider the additional problems discussed at page 38 Advanced Solution 2 Use SCORBASE and suitable path descriptions to allow the Mobile Robot to back up to the last unobstructed node point on the path and then choose an alternate route to the destination Advanced Solution 3 Modify the source code provided for the device driver so that the mobile robot will map its environment and use this mapping to avoid mapped obstacles Create your own software or interface to any third party mapping software Follow walls count openings If the robot is being used to patrol hallways as part of a security operation it might be used to follow walls instead of a prearranged program It may bypass closed doors and investigate opened rooms What provision should be made for pranksters trying to lure the robot into a trap How can ultrasound sensors be used for an operation like this Are there any drawbacks to using the Mobile Robot s built in functions for following walls Control motion velocity Are there applications where you would want to change the velocity of the robot If so how would the velocity be modified and what logic will be used to determine when modifications are needed Consider not only linear velocity but also angular velocity on turns Implement circular and other non linear trajectory e g spline curves The Mobile Robot has a built i
61. slodged The Operation Mode Selector is indicated by Arrow A in the illustration This model of the AGV is designed for use as a mobile robot However it still has some parts circuitry and on board programming which are needed only when it is used as an automated vacuum cleaner Two of the settings on the Operation Mode Selector Positions 2 and 3 fall into this category On some models these positions are labeled QUICK and MAX Experimentation with these settings may lead to undesirable results To avoid damaging circuitry or mechanical supports users who wish to remove the superfluous vacuum cleaner parts should consult with Intelitek technical support ER 400 AGV Mobile Robot User Manual 19 Operation 0606 intelitek Emergency Stop The red button marked STOP on the AGV s control panel can be used to manually interrupt the operation of the Mobile Robot whether set in motion manually or by means of computer commands When stopped with the red button the unit emits a 2 tone beep Child Safety Lock The unit is equipped with a Child Safety Lockout To engage set the Operation Mode Selector to OFF position 0 Press STOP UP UP on the ER 400 Control Panel The Child Lock indicator light comes on and the unit beeps three times See Lamp B as indicated here To disengage ensure that the Operation Mode Selector is still set to OFF position 0 Press STOP DOWN DOWN The unit beeps three times and the C
62. ssx rianncsivavsocsuerevascrunedlscutouneddieledineaseexestenssmseesecoiondueexentevens 4 Tostallation of Batteries ie ca saies ana cacasslshatacastnigexcaspiiecasanaeencsentiasateiaaecesansaresiaeatanieet 4 PD Ge 5 Fers OF PATS veger iei sanere 6 Handling Ts Grit O08 via cdzssscnsaviiezaceactiesevensens deceit ae 7 SECU IIC A LIS ars EE EE 8 On Board Laptop PC Specie a Os xcccsssonssvecvonsvaussensesasvitsienssssdocnesussiacesveures 10 Desktop Workstation PC Specifications ssicsssssiccsscssscssassssecsssisiecsoasssesaasssscisaasanens 10 Chapter 2 Assembly and Installation 11 Assembly of Payload Stand ojaasesscissosvactsrsnsasesassoreitedstscistreiacesadsaan saveatetensebiniebanids 11 Installation of On Board Computer coi dusccssesusncaesnsevsnasuavaveasaswtscaeveusvbdontaseasansite 12 Connection to On Board PC ssssssesessssessesesseessessrsseesseesrsseessteseeseesseesersersseesseserst 12 Connection to Network 5 sccussncansnevacanan doxtenantinasseavexeanshannideaneneeswurexeansandhwonatheanaivens 13 Software 1S tall og RR EE ER R 13 Software OVERVIEW scisnnisscessnivacess eneee eiT e EER E AEAEE T ETR E E a 13 On board laptop software srranvrrrnrrrvrrrerrrrnrrrrnrrrrrrrrrnrsnrersrsrrrrrenneenne 14 Workstation SoftWatErsssessisrosiriesi insna E E 17 STE EE O EE E AE 18 Chapter 3 Operation 19 Min Modernen aE EAE O REA E E EEA RE 19 Emergency Same Oaedsdkesnedninsganssbukjantduinn 20 On B ard PC vpn 20 Individual Movem
63. tes 0 endless Param7 ultrasound threshold in mm 0 ignore Reverse 10 cm 4 2 3 0 0 CHK CHK 56 Turn to 4 2 4 0 0 359 CHK Param5 heading in degrees 2 bytes Turn 4 2 5 15 120 0 180 CHK Param4 15 60 velocity right 75 120 velocity left Param5 degrees to turn 0 continuous Follow wall contour 4 2 6 0 0 CHK CHK 53 Homing 4 2 7 0 0 CHK CHK 52 Motors PWM 4 2 8 0 100 0 100 CHK Param4 Left motor PWM Param5 Right motor PWM Motors direction 4 2 9 0 1 0 1 CHK Param4 Left motor direction 0 forward 1 reverse Param5 Right motor direction Curve 4 2 10 0 120 CHK Param4 0 60 velocity right 61 120 velocity left Param5 radius cm Buzzer 6 1 29 1 10 CHK Param2 number of buzzes Param3 frequency Dummy 7 CHK CHK 62 Used to avoid communications timeout End program mode 8 CHK CHK 61 Communications 9 0 255 CHK Param2 time in seconds 0 no timeout timeout Wait 10 0 255 CHK Param2 time in units of 50 ms 1 20 sec ER 400 AGV Mobile Robot User Manual 51 Appendices 0606 Digital Sensor Polling Functions Appendix B Telemetry Functions intelitek Function Param1 Param2 Param3 Param4 Param5 Param6 Param7 Param8 Notes Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Odometer 3 t 2 0 0 0 CHK Param2 message rate 50 ms increments L
64. ther performed by a service provider or by you is at your expense General Conditions Repair by an authorized Intelitek service and warranty repair facility is your sole remedy under this warranty There is no other express or implied warranty All implied warranties of merchantability and fitness for use are limited to the duration of this express warranty Intelitek is not liable for indirect incidental or consequential damages in connection with the use of the Intelitek Product covered by this warranty including any cost or expense of providing substitute equipment or service during reasonable periods of malfunction or non use pending completion of repairs under this warranty Some states do not allow exclusions of incidental or consequential damages or limitations on how long an implied warranty lasts so the above exclusion and limitations may not apply to you This warranty gives you specific legal rights and you may also have other rights which vary from state to state Always follow the safety instructions specified in this Manual Intelitek products are manufactured by F Robotics Acquisitions Ltd ER 400 AGV Mobile Robot iii User Manual 0606 intelitek Table of Contents Chapter 1 General Information 1 Deseponuasdsnssuspieeanemanirinerkiedgtididdudunebjiatdttangadisni 1 System OVELVIEW EE NE eres maaan 1 1 le ER EN enou emp 2 Urpdisuuusepensseesmung unseakedueuedndeaam kattungen 3 Inspection TOF ACCEPTANCE
65. tion When the batteries are fully charged remove the charger cable and disconnect it from the wall AC power supply If you plan to leave the ER 400 out of operation for more than two weeks charge the batteries fully and remove them storing them separately from the unit Keep a log showing battery usage and be sure to order replacement batteries well in advance of when they will be needed Dispose of used batteries in accordance with applicable laws If available recycle the batteries by returning them to your supplier Batteries are hazardous waste and must not be disposed of in ordinary trash collection Troubleshooting Important Do not attempt to make repairs or perform procedures for which you are not qualified If you have any doubt about how to proceed call Intelitek technical support reached a critically low level Display Message What It Means What You Should Do Call Help 01 15 Robot requires service by an Remove batteries for 3 authorized technician seconds then replace This forces a system reset If this does not resolve the problem note the number of the error message and call your dealer El The battery voltage has Completely charge the batteries immediately to avoid permanent damage E2 right after pressing You are trying to start the Start the robot in a clear START robot too close to a stair or location door E2 during operation The robot is trapped and Remove the
66. to have the robot turn slightly on the last leg of its approach ER 400 AGV Mobile Robot User Manual 43 Optional Research Projects 0606 intelitek 6 Maintenance Daily Maintenance Battery Charging Manually plug the AC Power Supply into the battery charger port located in the bottom center of the front of the unit While the charger is working the Battery Light indicated by Arrow A flashes green The normal time to fully charge the batteries is 8 to 12 hours which typically means overnight If the unit experiences heavy use the batteries may have to be charged more often You may also order a spare set of batteries and charge them in the stand alone charger see page 11 while the Mobile Robot is in use Start Up Checklist 1 Remove the charger cables from the front of the AGV Mobile Robot and from the on board laptop computer 2 Move the Mobile Robot to its Home position if that is different from the charging station Refer to Manual Operation procedures detailed on page 19 3 Set the Operation Mode Selector to the first position labeled PC Control 4 Boot up the on board laptop computer and the desktop workstation 5 Launch SCORBASE on the workstation Launch the AGV Device Driver on the on board computer Load the AGV Position File named 3POINTS Run the AGV TEST file from SCORBASE to verify that the Mobile Robot is in proper working order ER 400 AGV Mobile Robot User Manual 44 Maintenanc
67. use them to rub together or contact one another The unit must be surrounded by a layer of packing material at least 7 cm thick to protect it from damage in shipment The packing material may be plastic peanuts bubble pack or other commercially suitable material Do not use crumpled newspapers The shipping carton must be at least 15 cm longer than the parts in all three dimensions The dimensions of the original carton are 610mm w x 490mm d x 600mm h The carton must be securely fastened with packing tape not cellophane tape or masking tape Contact your supplier if you have any questions Advanced Troubleshooting The ER 400 AGV Mobile Robot is shipped with software tools for the advanced user This software is used for diagnosing errors and also for fine tuning user projects Mobile Robot Toolkit The Mobile Robot Toolkit is for advanced users only It is not installed on your system but may be run from the CD ROM or a suitable directory ER 400 AGV Mobile Robot User Manual 48 Maintenance 0606 intelitek selected by the user The filename is TOOLKIT EXE The toolkit requires that the designated COM port be free for its exclusive use If you have the AGV Device Driver loaded you must close it before opening the toolkit The AGV Mode Selector may be set in Position 0 or Position 1 The toolkit contains four separate utilities Diagnostics Settings COM Port and Upgrade When first loaded it displays a control panel with
68. y moved with the handle on the payload stand Each time the AGV is moved by hand it must be either homed or localized before receiving commands which relate to defined points or paths in an AGV Position File See page 25 for more information about localization and AGV Position Files ER 400 AGV Mobile Robot User Manual 22 Operation 0606 intelitek Programmed paths The AGV can be programmed to move along predetermined paths each composed of one or more segments Many different paths can be defined each with its own unique name You can then cause the AGV to move from point to point simply by selecting the name of that path Defining Points Manually You must manually enter the coordinates of the points Be mindful of the size of your workspace and the orientation of the Cartesian coordinates you have chosen In the Teach Positions subpanel enter positive or negative integers in the boxes labeled x cm and y cm Teach Positions x cm yicem Thetafdeg User defined Position number pp fo oa Clear Set Home Localize Teach Delete Go To The theta setting is the orientation of the Mobile Robot when it reaches the destination point not the heading it must follow to get there Accordingly it is only useful to designate a theta setting for the very last point on a particular path Entering theta values for intermediate points may cause bizarre behavior such as pausing in mid journey and looking right and left before

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