Pioneer LX User's Guide, Rev. A
Page 43 of 125
Chapter 4: Components and Operation
When the E-Stop button is pressed, the robot's motors will be disabled, and must be re-enabled
by software (using the ENABLE command). The ARIA and ARNL example programs show
how to detect whether motors are disabled, whether the E-Stop button was pressed, and how
to re-enable the motors.
Brake-release Button
The brake-release is used when you need to manually move the platform.
Keyswitch
The keyswitch can be used to disable the OFF button. The key can be removed in either the
locked or unlocked positions.
4.6 Other Controls and Indicators
Light Discs, Light Tower
Circular lights on the sides of the platform are used by software to indicate status or state. A
user-supplied light tower can also be added for extra signaling.
Several modes are available with different colors and patterns displayed on the light discs and
light tower. Software can set a mode using the WHEEL_LIGHT command (See Programming
and Protocol). ARIA and ARNL contain example programs that show how to send the wheel
light command to set different modes.
The light disc always changes to mode 2 when the E-Stop button is pressed. The other modes
are not automatic and must be set by software.
Mode
Description
light discs
Light Tower
Outputs on
1
"Busy". Blue arcs rotate back and forth.
OUT1 (green),
OUT2 (orange),
OUT3 in turn.
2
"Error". Flashing red.
OUT3 (red)
periodic.
3
"Warning". Flashing yellow.
OUT2 (orange)
periodic.
4
"Caution". Blue arcs rotate, rest of
disc flashing orange.
OUT1(green)
periodic.
OUT2 (orange)
periodic alter-
nating with
OUT1.
OUT4 (buzzer)
Summary of Contents for Pioneer LX
Page 1: ...User s Guide Rev A November 2013...
Page 16: ......
Page 32: ......
Page 36: ......
Page 48: ......
Page 60: ......
Page 82: ......
Page 108: ......
Page 125: ...10 Colrumbia Drive Amherst NH 03450 USA Phone 1 603 881 7960 www mobilerobots com...