ExRobotics B.V.
ExR-2 Robot
Operating Guide
Document No.:
20220412IP1
Version No.: 2
Owner:
Ian Peerless
Date:
2022-04-30
Page 15 of 39
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Copyright 2022 ExRobotics B.V.
o
Motors Enabled
–
the robot’s motors are not isolated anymore, so the robot can be
driven manually or autonomously (this takes a few seconds to change after checking the
“Auto” box or pressing the green gamepad button).
o
Driving
–
the robot is in motion.
o
Gas Detectors On
–
The gas detectors are powered up (they have individual warm-up
times and only after this time the gas displays will start showing measurement values).
o
Manual Control
–
the robot is being controlled from this control station by a driver.
▪
Hovering over an icon or text will often provide more information.
▪
Drivers can change the robot location on the
screen by clicking on the “Site Config” option in
the navigation menu to the top left of the screen. They can report issues to our engineers
using the “Feedback”
option in the user menu to the top right of the screen.
The Gamepad controls are illustrated below:
▪
The green
“A”
button activates remote control by enabling the gamepad and drive motors. It
also de-activates the emergency stop button (see below). When this is done it will typically
take 30 seconds for the motors to be activated.
▪
The blue
“X”
button switches from remote control to autonomous driving.
▪
The yellow
“Y”
button deactivates remote control by disabling the gamepad.
▪
The red
“B”
button on the gamepad stops the robot and isolates the motors, identical to the
“Stop” icon.
▪
The analogue joysticks are used to drive (LSB) and steer (RSB) the robot.
▪
Holding down the LB/RB buttons changes speed mode (slowest - no buttons pressed, fastest -
both buttons pressed).
▪
If the LT button is held down, the RSB controls the inspection module panning and the
elevating mast (if fitted). Push the RSB button:
o
Left to rotate the panning module anticlockwise.
o
Right to rotate the panning module clockwise.
o
Forwards to raise the mast.
o
Backwards to lower the mast.
