AgileX Robotics (Dongguan) Co.,Ltd.
12
•
Insert the charger plug into Q2 charging interface on the rear control panel;
•
Connect the charger to power supply and turn on the switch in the charger. Then, the robot enters
the charging state.
Note: For now, the battery needs about 3 to 5 hours to be fully recharged from 22V, and the voltage
of a fully recharged battery is about 29.2V; the recharging duration is calculated as 30aH ÷ 10A =
3h.
3.3 Communication using CAN
SCOUT 2.0 provides CAN and RS232 interfaces for user customization. Users can select one of these
interfaces to conduct command control over the vehicle body.
3.3.1 CAN message protocol
SCOUT 2.0 adopts CAN2.0B communication standard which has a communication baud rate of
500K
and Motorola message format. Via external CAN bus interface, the moving linear speed and the
rotational angular speed of chassis can be controlled; SCOUT 2.0 will feedback on the current
movement status information and its chassis status information in real time.
The protocol includes system status feedback frame, movement control feedback frame and control
frame, the contents of which are shown as follows:
The system status feedback command includes the feedback information about current status of
vehicle body, control mode status, battery voltage and system failure. The description is given in
Table 3.1.
Table 3.1 Feedback Frame of SCOUT 2.0 Chassis System Status
Command Name
System Status Feedback Command
Sending node
Receiving node
ID
Cycle (ms)
Receive-timeout
(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x151
20ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
Current status of
vehicle body
unsigned int8
0x00 System in normal condition
0x01 Emergency stop mode (not enabled)
0x02 System exception
byte [1]
Mode control
unsigned int8
0x00 Remote control mode
0x01 CAN command control mode
[1]
0x02 Serial port control mode
byte [2]
Battery voltage
higher 8 bits
unsigned int16
Actual voltage X 10 (with an accuracy of
0.1V)
byte [3]
Battery voltage
lower 8 bits
byte [4]
Failure information
higher 8 bits
unsigned int16
See notes for details 【**【
