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14 

4

 

Attention 

This part contains some points that should be paid attention to when using and developing BUNKER MINI. 

4.1 Battery precautions 

 

4.2 Precautions for operational 
environment 

 

The battery of the BUNKER MINI product is not 
fully charged when it leaves the factory. The 
specific battery power can be displayed by the 
BUNKER MINI chassis rear voltage display or 
read through the CAN bus communication 
interface; 

 

Please do not charge the battery after the it is 
exhausted. Please charge it in time when the low 
voltage at the rear of the BUNKER MINI shows 
below 24V; 

 

Static storage conditions: The best storage 
temperature is -10

~45

. The battery should be 

charged and discharged once a month or so when 
it is not in use, and then the battery should be 
stored at full voltage. Do not put the battery into 
fire, or heat the battery, and do not store the 
battery at high temperature; 

 

Charging: It must be charged with a special 
charger for lithium batteries. Do not charge the 
battery below 0°C, and do not use batteries, power 
supplies and chargers that are not standard in the 
original factory. 

 

The working temperature of BUNKER MINI is 
-10

~45

, please do not use it in the 

environment where the temperature is lower than 
-10

  and higher than 45

 

Do not use it in an environment with corrosive or 
flammable gases or in an environment close to 
flammable substances; 

 

Do not store it around heating elements such as 
heaters or large coiled resistors; 

 

 

The waterproof and dustproof grade of 

BUNKER MINI is IP67, please do not use it in 
water for a long time, and check to remove rust 
regularly; 

 

It is recommended that the altitude of the 
environment should not exceed 1000M; 

 

It is recommended that the temperature difference 
between day and night should not exceed 25

 

Regularly check and maintain track tensioners. 

4.3 Precautions for electrical external 
expansion 

 

4.5 Other precautions 

 

The rear expansion power supply current does not 
exceed 6.25A, and the total power does not 
exceed 300W; 

 

 

When carrying and setting up operation, 
please do not drop or turn it upside down;   

 

for non-professionals, please do not 
disassemble it without permission. 

4.4 Safety precautions

 

 

 

If you have any questions during the use 
process, please follow the relevant instruction 
manuals or consult relevant technical personnel;

 

Before operating the equipment, pay attention to 
the on-site situation to avoid personnel security 
problems caused by misoperation; 

 

In case of emergency, power off the equipment 
by tapping the emergency stop button; 

 

Do not modify the internal device structure 
without technical support and permission 

Содержание BUNKER MINI

Страница 1: ......

Страница 2: ...uipment when the robot is powered on for the first time You can contact us at support agilex ai if you have any questions about usage It is very important that all assembly instructions and guidelines...

Страница 3: ...laws and regulations so as to ensure that the developed robot does not have any major dangers and safety hazards in practical applications Gather all documents in the technical file including the ris...

Страница 4: ...ambient temperature is greater than 0 C 5 Maintenance Regularly check the tension of the crawler and tighten the crawler every 100 150H of operation After every 200 hours of operation it is necessary...

Страница 5: ...ng 4 3 3 Development 4 3 3 2 CAN line connection 10 3 3 3 Realization of CAN command control 10 3 4 Use and operation 11 3 5 BUNKER MINI ROS Package Usage Example 12 4 Attention 14 4 1 Battery precaut...

Страница 6: ......

Страница 7: ...ers Parameter type Item Item Size Dimensions 660mm 584mm 286mm Chassis height 65 5mm Track width 100mm Ground length 670mm Weight Weight 54kg Load 25kg Battery Type Lithium battery Capacity 30AH Volta...

Страница 8: ...oltage range 46 54v maximum current 10A 2 Power GND Negative power supply 3 CAN CAN_H CAN bus high 4 CAN CAN_L CAN bus low Figure 2 2 Pin definition diagram of the rear aviation extension interface 2...

Страница 9: ...direction of X is the largest and when pushed to the minimum value the movement speed in the negative direction of the X direction is the largest The remote control joystick S2 controls the rotation o...

Страница 10: ...cy stop switch at the rear of the BUNKER MINI body Basic operation process of remote control After the BUNKER MINI robot chassis is started normally turn on the remote control and select the control m...

Страница 11: ...Description byte 0 Current vehicle body state unsigned int8 0x00 System normal 0x01 Emergency shut down mode 0x02 System exception byte 1 Mode control unsigned int8 0x00 Standby mode 0x01 CAN command...

Страница 12: ...rad s byte 4 Reserved 0x00 byte 5 Reserved 0x00 byte 6 Reserved 0x00 byte 7 Reserved 0x00 The control frame includes the linear velocity control opening the angular velocity control opening and the ch...

Страница 13: ...control of commands When the remote control switches to the command mode it still needs to send the control mode setting command before responding to the speed command The state setting frame is used...

Страница 14: ...ent position of the motor Unit number of pulses byte 5 The current position of the motor is the second highest signed int16 byte 6 The current position of the motor is the second lowest signed int16 b...

Страница 15: ...ck frame Sending node Receiving node ID Cycle ms Receiving Timeout ms Wire controlled chassis Decision control unit 0x311 20ms None Data length 0x08 Position Function Data type Description byte 0 The...

Страница 16: ...igned int8 0 255 loop count 3 3 2 CAN line connection BUNKER MINI provides an aviation plug male as shown in Figure 3 2 The definition of the line is that the yellow is CANH the blue is CANL the red i...

Страница 17: ...client software select the port number BUNKER MINIchassis is powered on click Start Connection immediately BUNKER MINI chassis will wait for 6S before power on if the time exceeds 6S it will enter the...

Страница 18: ...X BUNKER MINI mobile robot chassis X1 AGILEX BUNKER MINI supporting remote control FS i6s X1 AGILEXBUNKER MINI top aviation receptacle X1 Environment description of usage example Ubuntu 16 04 LTS this...

Страница 19: ...cted to the BUNKER robot this time and the vehicle is powered on use the following commands to monitor the data from the BUNKERchassis candump can0 Reference 1 https github com agilexrobotics agx_sdk...

Страница 20: ...perature is lower than 10 and higher than 45 Do not use it in an environment with corrosive or flammable gases or in an environment close to flammable substances Do not store it around heating element...

Страница 21: ...ntrolled by the remote control it means that the chassis motion control is normal and it can receive the feedback frame of the chassis which means that the CAN extension link is normal Please check wh...

Страница 22: ...16 6 Product Dimensions 6 1 Illustrations of product outline dimensions...

Страница 23: ...17 6 2 Illustrations of top expansion bracket dimensions...

Страница 24: ...Official distributor WORLDWIDE david denis generationrobots com 33 5 56 39 37 05 www generationrobots com...

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