AgileX BUNKER User manual

BUNKER
AgileX Robotics Team
2020.04
V.2.0.1
User Manual

Before the robot is powered on for the first time, any individual or
organization must read and understand this information before using the
device. If you have any questions about use, please contact us at
[e-mail]. Please follow and implement all assembly instructions and
guidelines in the chapters of this manual, which is very important. Particular
attention should be paid to the text related to the warning signs.

！Safety Information
The information in this manual does not include the design, installation and operation of a
complete robot application, nor does it include all peripheral equipment that may affect the
safety of the complete system. The design and use of the complete system need to comply with
the safety requirements established in the standards and regulations of the country where the
robot is installed. SCOUT integrators and end customers have the responsibility to ensure
compliance with the applicable laws and regulations of relevant countries, and to ensure that
there are no major dangers in the complete robot application. This includes but is not limited to
the following:
1.Effectiveness and responsibility 2.Environmental Considerations
Make a risk assessment of the complete robot system.
Connect the additional safety equipment of other
machinery defined by the risk assessment together.
Confirm that the design and installation of the entire
robot system's peripheral equipment, including
software and hardware systems, are correct.
This robot does not have a complete autonomous
mobile robot, including but not limited to automatic
anti-collision, anti-falling, biological approach
warning and other related safety functions. Related
functions require integrators and end customers to
follow relevant regulations and feasible laws and
regulations for safety assessment , To ensure that the
developed robot does not have any major hazards
and safety hazards in actual applications.
Collect all the documents in the technical file:
including risk assessment and this manual.
Know the possible safety risks before operating and
using the equipment.
For the first use,please read this manual
carefully to understand the basic operating
content and operating specification.
For remote control operation, select a
relatively open area to use Bunker, because
Bunker is not equipped with any automatic
obstacle avoidance sensor.
Use Bunker always under -20℃~60℃
ambient temperature.
If Bunker is not configured with separate
custom IP protection, its water and dust
protection will be IP44 ONLY.
3.Pre-work Checklist
Make sure each device has
sufficient power.
Make sure Bunker does not
have any obvious defects.
Check if the remote controller
battery has sufficient power.
When using, make sure the
emergency stop switch has
been released.
4.Operation
The maximum load of BUNKER is 70KG. When in use,
ensure that the payload does not exceed 70KG.
When installing an external extension on BUNKER,
confirm the position of the center of mass of the
extension and make sure it is at the center of rotation.
Please charge in time when the device voltage is
lower than 48V.
When BUNKER has a defect, please
immediately stop using it to avoid secondary
damage.
When BUNKER has had a defect, please
contact the relevant technical to deal with it,
do not handle the defect by yourself.
Always use BUNKER in the environment with
the protection level requires for the
equipment
.
In remote control operation, make sure the
area around is relatively spacious.
Carry out remote control within the range of
visibility.

Do not push BUNKER directly.
When charging, make sure the ambient temperature is above 0℃.
5.Maintenance
Regularly check the tension of the hanging crawler, and tighten the crawler every
150~200h.
After every 500 hours of operation, the bolts and nuts of each part of the car
body should be inspected. If they are loose, they must be tightened immediately.
In order to ensure the storage capacity of the battery, the battery should be
stored under electricity, and it should be charged regularly when not used for a
long time.

CONTENTS
1 Bunker Introduction.....................................................................1
1.1 Component list.................................................................................1
1.2 Tech specifications............................................................................1
1.3 Required for development................................................................2
2 The Basics.......................................................................................3
2.1 Description of electrical interface.....................................................3
2.2 Instruction on remote control..........................................................4
2.3 Instruction on control demands and movements............................4
3 Getting Started...............................................................................5
3.1 Use and operation............................................................................5
3.2 Charging............................................................................................6
3.3 Communication using CAN...............................................................6
3.3.2 CAN Cable Connection.................................................................12
3.3.3 Implementation of CAN command control..................................12
3.4 Firmware upgrades.........................................................................12
4 Attention......................................................................................14
4.1 Battery............................................................................................14
4.2 Operational environment...............................................................14
4.3 Electrical /extension cords..............................................................14
4.4 Mechanical load..............................................................................14
4.5 Other notes.....................................................................................14
4.6 Additional safety advice..................................................................14
5 Q&A..............................................................................................15
6 Product Dimensions......................................................................16
6.1 Product outline dimension illustration...........................................16
6.2 Top expansion stent size description diagram................................17

1
Be able to turn on a pivot
1 BUNKER Introduction
BUNKER is designed as a multi-purpose tracked chassis with different
application scenarios considered: simple and sensitive operation, large
development space, adapt to various fields of development and application,
independent suspension system, high payload and suspension, strong climbing
ability, can climb stairs. It can be used for the development of special robots
such as inspection and exploration, rescue and detonation, special shooting,
special transportation, etc., to solve the robot mobile solution.
1.1 Component list
Name
Quantity
BUNKER Robot Body
x1
Battery Charger(AC 220V)
x1
Aviation plug（4Pin）
x2
FS remote control
transmitter(Optional)
x1
USB to RS232
x1
USB to CAN communication module
x1
1.2 Tech specifications
Parameter Types
Items
Values
Dim
ensi
ons
Dimensions
1000*750*360mm
Inner dimensions
600*300*230mm
Chassis height
90m
m
Track width
150m
m
Length
520m
m
Weight
Weight
About
130kg
Load
70kg
Battery
Type
Lithium battery
Capacit
y
30AH
Voltage
48V
Motion
35°
Speed
0~1.5m/s
Minimum turning radius
Maximum obstacle
170mm
Maximum climbing capacity

2
Control
Control mode
Remote control
RC transmitter
2.4G/extreme distance 1KM
CAN
1.3 Required for development
FS RC transmitter is provided (optional) in the factory setting of BUNKER, which
allows users to control the chassis of robot to move and turn; CAN and RS232
interfaces on BUNKER can be used for user’s customization.
Communication interface

3
2 TheBasics
This section provides a brief introduction to the BUNKER mobile robot platform.
It is convenient for users and developers to have a basic understanding of
BUNKER chassis.
2.1Description of electrical interface
The interface at rear end is shown in Figure 2-1, where Q1 is CAN and 48V
power supply aviation interface; Q2 is the power switch; Q3 is the recharging
interface; Q5 is the drive test interface; Q6 is the emergency stop switch; Q7 is
the display of battery voltage.
Figure 2-1 Tail electrical interface
The definitions of Q1 communication and power interface as shown in Figure 2-2.
1
2 3
Pin No.
Pin Type
Function
and
Defition
Remarks
1
Power
VCC
Power positive,
voltage range 46 -
54V, maximum
current 10A
2
Power
GND
Power negative
3
CAN
CAN_H
CAN bus high
4
CAN
CAN_L
CAN bus low
4
Figure 2.2 Pin definition figure of tail aviation expansion interface

4
Figure 2.4 Schematic Diagram of Reference Coordinate System for Vehicle Body
Figure 2.3 Schematic Diagram of Buttons on FS RC transmitter
2.2Instructions on remote control
FS RC transmitter is an optional accessory
of BUNKER for manually controlling the
robot. The transmitter comes with a left-
hand-throttle configuration. The functions
of the buttons are defined as: SWA, SWC,
SWD are enabled by default. SWB for
control mode selection, top position for
command control mode and the middle
position for remote control mode. When
configuring the autowalker navigation system, the bottom is the navigation control mode.
S1 is the throttle button to control the forward and backward of BUNKER; S2 controls the
rotation, POWER is the power button, and it can be turned on at the same time. It should be
noted that when the remote controller is turned on, SWA, SWB, SWC, SWD all need to be at
the top.
2.3Instructions on control demands and movements
A reference coordinate system can be defined and fixed on the vehicle body as
shown in Figure 2.4 in accordance with ISO 8855.

5
As shown in Figure 2.4, the vehicle body of BUNKER is in parallel with X axis of
the established reference coordinate system. Following this convention, a
positive linear velocity corresponds to the forward movement of the vehicle
along positive x-axis direction and a positive angular velocity corresponds to
positive right-hand rotation about the z-axis. In the manual control mode with a
RC transmitter, pushing the C1 stick (DJI model) forward will generate a positive
linear velocity command and pushing C2 (DJI model)to the left will generate a
positive angular velocity command.
3 Getting Started
This section introduces the basic operation and development of the BUNKER
platform using the CAN bus interface.
3.1 Use and operation
C heck Startup
Check the condition of vehicle body. Check
whether there are significant anomalies; if so,
please contact the after-sale service
personnel for support;
Check the state of emergency stop switches.
Make sure Q6 emergency stop button at the
rear is released;
For first-time use, check whether Q3 (drive
power supply switch) on the rear panel has
been pressed down; if so, please release it,
and then the drive will be powered off;
Press the key switch (Q2 on the electrical panel),
and normally, the voltmeter will display correct
battery voltage and front and rear lights will be
both switched on;
Check the battery voltage. If the voltage is
higher than 48V, it means the battery voltage is
correct; if the battery power level is low, please
charge the battery;
Shutdown Emergency stop
Press the key switch to cut off the power Press down emergency push button at the rear
supply; of BUNKER vehicle body;

6
Basic operating procedure of remote control:
After the chassis of BUNKER mobile robot is started correctly, turn on the RC transmitter and
select the remote-control mode. Then, BUNKER platform movement can be controlled by the RC
transmitter.
3.2 Charging
BUNKER is equipped with a standard charger by default to meet customers'
recharging demand.
The detailed operating procedure of charging is shown as follows:
Make sure the electricity of BUNKER chassis is powered off. Before charging,
please make sure Q2 (key switch) in the rear control console is turned off;
Insert the charger plug into Q3 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.
3.3 Communication using CAN
BUNKER provides CAN interfaces for user customization. Users can to conduct
command control over the vehicle body by this interface.
BUNKER 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; BUNKER 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

7
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 BUNKER Chassis System Status
Command System Status Feedback Command
Name
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
0x00System 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
byte [2]
byte [3]
Battery voltage
higher 8 bits
Battery voltage
lower 8 bits
unsigned int16
Actual voltage ×10(with an
accuracy of 0.1V)
byte [4]
byte [5]
Failure information
higher 8 bits
Failure information
lower 8 bits
unsigned int16
See notes for details[Fault message
description]
byte [6]
Count paritybit
(count)
unsigned int8
0~255 counting loops, which will be
added once every command sent
byte [7]
Parity bit
(checksum)
unsigned int8
Parity bit

8
Table 3.2 Description of Failure Information
Description of Failure Information
Byte
Bit
Meaning
byte [4]
bit [0]
Check error of CAN communication control command
(0:No failure 1:Failure
bit [1]
Reserved, default 0
bit [2]
Reserved, default 0
bit [3]
Reserved, default 0
bit [4]
Reserved, default 0
bit [5]
Reserved, default 0
bit [6]
Reserved, default 0
bit [7]
Reserved, default 0
byte [5]
bit [0]
Battery under-voltage failure (0: No failure 1: Failure)
bit [1]
Battery over-voltage failure (0: No failure 1: Failure)
bit [2]
Driver CAN communication failure (0: No failure 1: Failure)
bit [3]
Reserved, default 0
bit [4]
Reserved, default 0
bit [5]
Reserved, default 0
bit [6]
Motor drive over-temperature protection[2] (0: No
protection 1:
Protection)
bit [7]
Motor over-current protection[2] (0: No protection 1:
Protection)
The command of movement control feedback frame includes the feedback of
current linear speed and angular speed of moving vehicle body. For the
detailed content of protocol, please refer to Table 3.3.
Table 3.3 Movement Control Feedback Frame
Command
Name
Movement Control Feedback Frame
Sending node
Receiving node
ID
Cycle（ms）
Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-
making control
unit
0x131
20ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
byte [1]
Moving speed
higher 8 bits
Moving speed
lower 8 bits
signed int16
Actual speed X 1000 (with an accuracy of
0.001m/s)

9
The control frame includes mode control, failure clearing command, control
openness of linear speed, control openness of angular speed and checksum.
For its detailed content of protocol, please refer to Table 3.4.
Table 3.4 Control Frame of Movement Control Command
byte [2]
byte [3]
Rotational
speed higher 8
bits
Rotational
speed lower 8
bits
signed int16
Actual speed X 1000 (with an accuracy of
0.001rad/s)
byte [4]
Reserved
-
0x00
byte [5]
Reserved
-
0x00
byte [6]
Count paritybit
(count)
unsigned int8
0~255 counting loops, which will be
added once every command sent
byte [7]
Parity bit
(checksum)
unsigned int8
Parity bit
Command
Name
Control Command
Sending node
Receiving node
ID
Cycle（ms）
Receive-timeout(ms)
Decision-
making control
unit
Chassis node
0x131
20ms
500ms
Data length
0x08
Position
Function
Data type
Description
byte [0]
Control mode
unsigned int8
0x00 Remote control mode
0x01 CAN command control mode[1]
0x02 Serial port control mode
byte [1]
Failure clearing
command
unsigned int8
See Note 2 for details*
byte [2]
Linear speed
percentage
signed int8
Maximum speed 1.5m/s,value range (-
100,100)
byte [3]
Angular speed
percentage
signed int8
Maximum speed 3.1415rad/s,value
range (-100,100)
byte [4]
Reserved
-
0x00
byte [5]
Reserved
-
0x00
byte [6]
Count paritybit
(count)
unsigned int8
0-255 counting loops,which will be
added once every command sent
byte [7]
Parity bit
(checksum)
unsigned int8
Parity bit

10
In case the RC transmitter is powered off, the
control mode of BUNKER is defaulted to command
control mode, which means the chassis can be
directly controlled via command. However, even
though the chassis is in command control mode,
the control mode in the command needs to be set
to 0x01 for successfully executing the speed
command. Once the RC transmitter is switched on
again, it has the highest authority level to shield
the command control and switch over the control
mode.
[Note 2]-Information about failure clearing
command: 0X00 No failure clearing command
0x00 No failure clearing command
0X01 Clear battery under-voltage failure
0X02 Clear battery over-voltage failure
0X03 Clear driver communication failure
0X07 Clear motor drive over- temperature
failure
[Note 3]Example data:The following data is only used for testing
1. The vehicle moves forward at 0.15m/s.
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
0x01
0x00
0x0a
0x00
0x00
0x00
0x00
0x44
2.The vehicle rotates at 0.07853rad/s.
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
0x01
0x00
0x00
0x0a
0x00
0x00
0x00
0x44
3.When the vehicle stays still, switch the control mode to command mode(test without RC transmitter
switched on)
1.
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
0x01
0x00
0x00
0x00
0x00
0x00
0x00
0x3a
The data Parity bit is the last valid byte in
the data segment of each frame of CAN
message.Its checksum is calculated as
follows: CHECK SUM =(ID_H + ID_L +
DATA_LENGTH+ CAN_MSG.- DATA[0] +
CAN_MSG.DATA[1] + CAN_MSG.- DATA[2]
+ CAN_MSG.DATA[3] + CAN_MSG.-
DATA[4]+ �+ CAN_MSG.DATA[N]) &
0XFF：
ID_H and ID_L are respectively higher 8 bits and
lower 8 bits of a frame ID.For example, if ID is 0x540,
the corresponding ID_H is 0x05 and ID_L is 0x40;
Data_length refers to the valid data length of a data
segment in one frame of CAN message, which
includes the checksum byte;
can_msg.data[n] is the specific content of each
byte in the valid data segment; the count parity bit
needs to participate in the calculation of checksum,
but the checksum itself does not participate in the
calculation.

11
/**
* @BRIEF CAN MESSAGE CHECKSUM EXAMPLE CODE
* @PARAM[IN] ID : CAN ID
* @PARAM[IN] *DATA : CAN MESSAGE DATA STRUCT POINTER
* @PARAM[IN] LEN : CAN MESSAGE DATA LENGTH
* @RETURN THE CHECKSUM RESULT
*/
STATIC UINT8 AGILEX_CANMSGCHECKSUM(UINT16 ID, UINT8 *DATA, UINT8 LEN)
{
UINT8 CHECKSUM = 0X00;
CHECKSUM = (UINT8)(ID & 0X00FF) + (UINT8)(ID >> 8) + LEN;
FOR(UINT8 I = 0 ; I < (LEN-1); I++)
{
CHECKSUM += DATA[I];
}
RETURN CHECKSUM;
}
Figure 3.1 CAN Message Check Algorithm

12
3.3.2 CAN Cable Connection
An aviation male plugs are supplied along with
BUNKER as shown in Figure 3.2. The definition
of the line is yellow for CANH, blue for CANL,
red for positive power supply, and black for
negative power supply. The external expansion
interface of the current BUNKER version is only
open to the top interface. In this version, the
power supply can provide a maximum current
of 10A .
3.3.3Implementation of CAN
command control
Correctly start the chassis of BUNKER mobile
robot, and turn on FS RC transmitter. Then,
switch to the command control mode, i.e.
toggling SWB mode of FS RC transmitter to the
top. At this point, BUNKER chassis will accept
the command from CAN interface, and the
host can also parse the current state of chassis
with the real-time data fed back from CAN bus.
For the detailed content of protocol, please
refer to CAN communication protocol.
3.4Firmware upgrades
The RS232 port on BUNKER can be used by
users to upgrade the firmware for the main
controller in order to get bug fixes and feature
enhancements. A PC client application with
graphical user interface is provided to help
make the upgrading process fast and
smooth. A screenshot of this application is
shown in Figure 3.3.
Red:VCC(battery positive)
Black:GND(battery negative)
Blue:CAN_L
Yellow:CAN_H
Figure 3.2 Schematic diagram of aviation
plug male connector

13
Upgrade preparation:
Upgrade preparation:
·Before connection, ensure the robot chassis is
powered off;
·Connect the serial cable onto the upgrade serial
port of BUNKER chassis(need to disassemble the
rear electrical plate);
·Connect the serial cable to the computer;
·Open the client software;
·Select the port number;
·Power on BUNKER chassis, and immediately
click to start connection (BUNKER chassis will
wait for 6s before power-on; if the waiting time
is more than 6s, it will enter the application); if
the connection succeeds, "connected
successfully" will be prompted in the text box;
·Load Bin file；
·Click the Upgrade button, and wait for the
prompt of upgrade completion；
·Disconnect the serial cable, power off the
chassis, and then turn the power off and on
again.
Figure 3.3 Client Interface of Firmware Upgrade
·Serial cable X 1
·USB-to-serial port X 1
·BUNKER chassis X 1
·Computer(Windows operating system)X1

14
4 Attention
This section includes some precautions that should be paid attention to for BUNKER use and
development.
Battery
The battery supplied with BUNKER is not fully
charged in the factory setting, but its specific power
capacity can be displayed on the voltmeter at rear
end of BUNKER chassis or read via CAN bus
communication interface.
Please do not charge the battery after its power has
been depleted, and please charge the battery in time
when the low voltage at the rear of BUNKER shows
below 48V.
Static storage conditions: The best temperature for
battery storage is -20℃to 60℃; in case of storage for
no use, the battery must be recharged and discharged
once about every 1 months, and then stored in full
voltage state. Please do not put the battery in fire or
heat up the battery, and please do not store the
battery in high-temperature environment;
Charging: The battery must be charged with a
dedicated lithium battery charger; lithium-ion
batteries cannot be charged below 0 ° C (32 ° F) and
modifying or replacing the original batteries are
strictly prohibited .
Electrical/extension cords
For the extended power supply at rear end, the
current should not exceed 6.25A and the total
power should not exceed 300W;
Operational environment
The operating temperature of BUNKER outdoors is -10
℃ to 45 ℃ ; please do not use it below -10 ℃ and
above 45 ℃ outdoors;
The operating temperature of BUNKER indoors is 0 ℃
to 42 ℃ ; please do not use it below 0 ℃ and above 42
℃ indoors;
The requirements for relative humidity in the use
environment of BUNKER are: maximum 80%,
minimum 30%;
Please do not use it in the environment with corrosive
and flammable gases or closed to combustible
substances;
Do not place it near heaters or heating elements such
as large coiled resistors, etc.;
Except for specially customized version (IP protection
class customized), BUNKER is not water-proof, thus
please do not use it in rainy, snowy or water-
accumulated environment;
The elevation of recommended use environment
should not exceed 1,000m;
The temperature difference between day and night of
recommended use environment should not exceed 25
℃ ;
Regularly check and maintenance the track tension
wheel.
Additional safety advice
In case of any doubts during use, please follow
related instruction manual or consult related
technical personnel;
Before use, pay attention to field condition, and
avoid mis-operation that will cause personnel
safety problem;
In case of emergencies, press down the
emergency stop button and power off the
equipment;
Without technical support and permission,
please do not personally modify the internal
equipment structure.
Other notes
When handling and setting up, please do not fall
off or place the vehicle upside down;
For non-professionals, please do not disassemble
the vehicle without permission.