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Athena 2.0

General Purpose Robot Platform

Model: N5M32-R2

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User Manual

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Small- to medium-sized robot
development

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Highly adaptable and scalable

○

Powerful optional functions

Learn more >

Shanghai Slamtec Co., Ltd.

Содержание N5M32-R2

Страница 1: ...tform Model N5M32 R2 2022 03 16 rev 1 0 Read through this user manual carefully before use User Manual Small to medium sized robot development Highly adaptable and scalable Powerful optional functions...

Страница 2: ...3 3 REFERENCE OF HARDWARE DESIGN 13 4 REFERENCE OF STRUCTURE DESIGN 24 4 1 INSTALLING INTERFACE OF HOST COMPUTER 24 4 2 INSTRUCTION OF LOAD LIMIT 24 4 3 RADAR CLEARANCE AREA 25 4 4 DEEP CAMERA CLEARA...

Страница 3: ...EACH SYSTEM 44 7 4 DEMONSTRATIONS OF CODE 45 7 5 DETAILS OF ROBOT API 46 8 INTRODUCTION AND USE OF ELEVATOR CONTROL 49 8 1 INTRODUCTION 49 8 2 FEATURES 49 9 SPECIAL NOTE 51 9 1 CHARGE POINT DEPLOYMENT...

Страница 4: ...thena 2 0 can implement autonomous mapping localization and navigation by flexibly responding to complex and ever changing operational environments 1 2 Basic Functions 1 2 1 Compact and Flexible Athen...

Страница 5: ...lti sensor fusion technology It provides rapid and accurate identification of surrounding active environments enabling smart obstacle avoidance and greatly reducing the chances of safety incidents It...

Страница 6: ...5 56 1 3 Exterior...

Страница 7: ...6 56 1 4 Charging Dock Charging dock diagram 1 5 Product List Name Quantity Notes Athena 2 0 body 1 Athena 2 0 chassis body Charging dock 1 Select environment for deployment before use...

Страница 8: ...5 cm Bumper Quantity 2 units Trigger method Physical collision Mapping performance Map resolution 5 cm Max mapping area 500m 500m Motion parameters Max move speed 1 0 m s 1 2 m s can be customized no...

Страница 9: ...standard Battery scalable to 90 AH No load operating time 19h no load Full load operating time 8h full load Charging time 3 4 h standard charging station Battery life 500 charges Power consumption Pow...

Страница 10: ...9 56 Charging station Size 360 mm 150 mm 320 mm W D H Color White Rated input 100 240V 50 60 Hz 3A Max Rated output DC 25 5V 6A...

Страница 11: ...ust be designed according to rigid regulations If the switch is not designed Athena2 0 will refuse to run Brake When robot is energized press this switch to release the brake and you can push the robo...

Страница 12: ...399 development via USB3 0 to obtain information of code scanning camera Assist precise docking 12V DISP Rated Voltage 12V See the figure below for the design drawings 12V working power of Cube2 to pr...

Страница 13: ...12 56...

Страница 14: ...nual carefully to avoid product damage caused by misoperation 2 The working temperature of the main board is 0 to 40 30 70 RH in order not to damage the product due to excessive cold heat or moisture...

Страница 15: ...y interfaces are 1 HDMI 1 eDP LVDS supporting dual screen display which can meet the needs of flexible and diverse point screen applications The board has a 3 5mm headset socket and a dual channel 5W...

Страница 16: ...pports 480p 480i 576p 576i 720p 1080p 1080i 4k Internet 1 RJ45 Gigabit Ethernet 1 WIFI Bluetooth Audio 1 3 5mm headset socket 1 LINE_MIC audio pin with headset socket Co lay 1 Dual channel 5w 8 power...

Страница 17: ...is 1 8GHz 4 core Cortex A53 the highest frequency is 1 4GHz The eDP interface and the LVDS interface share the backlight and control signals and cannot be connected to the screen at the same time only...

Страница 18: ...17 56 3 3 3 Introduction of Interfaces 1 Front view of main board 2 Front IO diagram of the main board 3 IO diagram behind the main board 4 Back view of main board...

Страница 19: ...identification method of the first pin on the main board is 1 has a white and bold silkscreen 2 the pins seen on the back of the main board are square holes 3 3 4 Definition of pin function 1 Pin Inte...

Страница 20: ...485 serial port 2 sockets DEBUG PH2 0 4PIN onboard MCU module debugging interface JC2 COM1 RS232 TTL mode setting jumper 3 JC3 COM1 RS232 TTL mode setting jumper 3 JC4 COM2 internal onboard MCU exter...

Страница 21: ...TTL TTL_DEBUG pin JC2 JC3 1 2P short interface 2 3 short interface 4 JC4 and JC5 jointly determine the COM2 signal connection Mode RS232 JCOM2 pin MCU 485A base JC4 JC5 1 2P short interface 2 3 short...

Страница 22: ...KEY 6 GND 7 BACK_KEY 8 GND 9 OEM_KEY 10 GND JP CN pin Signal pin Signal Remark PWRLED 1 3 3V 2 GND 3 LED_A 4 LED_B Main board and jumper definition continued 1 JP CN pin Signal pin Signal Remark JCOM1...

Страница 23: ...C 4 5 GND 6 GND 7 TXA0 8 TXA0 9 TXA1 10 TXA1 11 TXA2 12 TXA2 13 GND 14 GND 15 TXA_CLK 16 TXA_CLK 17 TXA3 18 TXA3 19 TXB0 20 TXB0 21 TXB1 22 TXB1 23 TXB2 24 TXB2 25 GND 26 GND 27 TXB_CLK 28 TXB_CLK 29...

Страница 24: ...LED 1 3 3V 2 WLAN_LED JP CN pin Signal pin Signal Remark CAM_FLASH 1 12V 2 GND 3 Flash_ON 4 FLASH_PWM JP CN pin Signal pin Signal Remark CMR_MIPI0 CMR_MIPI1 1 AGND 2 2 8V 3 1 8V 4 1 5V 5 GND 6 CMR_CLK...

Страница 25: ...ace of Host Computer As shown in the figure above there are a total of 8 M3 threaded holes for the installation and fixation of the host computer It is recommended to use M3 screws with spring washer...

Страница 26: ...tallation i The center of gravity of chassis is the one which Slamtec provides the height is 82 mm ii The center of gravity of the whole machine is the overall center of gravity of the chassis plus th...

Страница 27: ...the lower boundary line of the host computer as shown in the figure 4 4 Deep Camera Clearance Area There is a deep camera on the chassis which requires a certain clearance area to avoid being shielde...

Страница 28: ...station it will generate propelling force Therefore it is best to place the charging stand with its back against the wall The wall must meet the following conditions a The charging base must be attach...

Страница 29: ...the wheel hub is in the brake state indicating that the startup is completed If the machine is in the position of charging pile short press the power switch until the power switch indicator lights up...

Страница 30: ...ing it to the charging pile Release the brake button the machine can return to normal working condition and the manual push is blocked 5 6 Connection to Computer 5 6 1 Wired Connection Based on the ac...

Страница 31: ...n click Ethernet IP Mode Step 4 Change the default DHCP to static fill in the default value and click Save 5 4 Ethernet interface Step 5 Connect the computer to the Athena2 0 machine with a network ca...

Страница 32: ...et interface Step 6 Right click Ethernet go to Properties and click Internet Protocol Version 4 TCP IPv4 Step 7 Manually change the IP address for example to 192 168 1 66 The default official website...

Страница 33: ...32 56 5 6 Internet Protocol Version 4 TCP IPv4...

Страница 34: ...sktop will pop up as shown in the picture below Click OK 5 7 The page after the network is saved Step 9 Check the IP address in Step 4 Step 10 After logging in to RS click the Robot option and manuall...

Страница 35: ...ep 1 Download the software Slamtec RoboStudio from the official website of Slamtec Download Reference Link http www slamtec com cn Support Step 2 Start the Athena2 0 machine and use type C cable to co...

Страница 36: ...ace 5 12 Android interface of the Athena2 0 machine Step 4 On the Android interface select Settings then select More in Wireless and Networking and then select Network Sharing and Portable Hotspot to...

Страница 37: ...5 If the portable WIFI hotspot is Athena2 0 Show connect the network of your computer to Athena2 0 Show at the same time so as to ensure that your computer and Athena2 0 machine are in the same netwo...

Страница 38: ...nnected to the same network Step 6 Run roboStudio Exe to enter the Slamtec RoboStudio interface and enter the IP address and port 5 15 Robostudio exe interface Note 2 The method of IP address query is...

Страница 39: ...cal control management tool Robot Studio from our official website http www slamtec com cn RoboStudio to adjust and use Athena2 0 sign up account and log in In the menu toolbar area click File Robot i...

Страница 40: ...backstage When the computer has been connected to the SSID of the aforementioned Athena2 0 robot through a network adapter SSID can be viewed on the label of the machine enter the IP address 192 168...

Страница 41: ...pot inside the map building area let Athena2 0 build the map When finishing please use the virtual wall function to isolate the places that need to be isolated Then click File Map Editor in turn choos...

Страница 42: ...function relies on the Slamware Forbidden Area plug in Slamware Forbidden Area is a public plug in the computer is connected to the Internet after logging in RoboStudio click Tools Plug ins Shop All...

Страница 43: ...core Pose rpos core Location 0 0 0 25 the Athena2 0 pose in map Athena2 0_pose should be the Athena2 0 s real pose in new map 26 using Athena2 0 getpose to get the old Athena2 0 pose 27 auto map cmap...

Страница 44: ...age supports following functions 1 Check basic information of the device 2 Restart the module 3 Update the firmware Slamtec will regularly provide Athena2 0 firmware updates and upgrades You can easil...

Страница 45: ...App sends instructions to the robot according to various business scenarios and Robot Agent will provide data interfaces task operation interfaces and business services to Robot App 7 1 COMMUNICATION...

Страница 46: ...fore elevator control is part of the function Robot Cloud communicates with the Elevator Agent running on the main control box of the elevator control through the MQTT protocol Its core functions incl...

Страница 47: ...wing is the Robot App calling the Robot Agent interface to make the robot move across floors POST http 127 0 0 1 1448 api core motion v1 actions The request message format is application json 7 5 Deta...

Страница 48: ...segment Get all POI in current map Add POI Empty POI Find POI according to ID Modify POI Delete POI Motion control of the Robot Get all supported actions Get current action Stop current action Create...

Страница 49: ...picking up items End picking up items Get info of objects NOTE delivery business please inform marketing department Restaurant delivery service related interfaces Get the current battery percentage G...

Страница 50: ...ation that robots can only work on the same floor 8 2 2 Intelligence Status Detection Through the built in sensor and adaptive algorithm this product can accurately detect the current floor up and dow...

Страница 51: ...e To Bypass For some elevators that require a swipe card to ride this product can also be easily supported Just install the equipment we specify when installing the device and then turn on the swipe c...

Страница 52: ...event incorrect recovery after moving 9 2 Restricted usage scenarios Please avoid using Athena2 0 chassis in the following scenarios to avoid chassis failure or damage 1 Overrun heavy transportation D...

Страница 53: ...tery it should be stored in a cool and dry environment 2 For long term storage more than 3 months it is recommended to put it in a dry environment with room temperature of 10 25 and no corrosive gas 3...

Страница 54: ...subsidence of more than 2cm 4 It is recommended to start the equipment on the charging base 5 Do not change the inside of the machine without authorization 6 In environments with many high transmittan...

Страница 55: ...oth when the power is off and ensure that there are no wires paper scraps and other foreign objects stuck on the anti collision bar 2 Maintenance cycle For the maintenance of the main engine it mainly...

Страница 56: ...ition of the charging point has been moved If the position has been moved please contact the after sales department 2 Please confirm whether there is a slope at the position of the charging point If t...

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