AgileX BUNKERpro User manual

BUNKERpro
AgileX Robotics Team
User Manual
V.1.0.0
2021.10

This chapter contains important safety information, before the robot is powered on for the
first time, any person 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 followed 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.

！Important 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 peripherals that may affect the safety of this 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.
The integrators and end customers of BUNKERPRO have the responsibility to ensure compliance with relevant provisions
and practical laws and regulations, and to ensure that there are no major hazards in the complete application of the robot.
This includes but is not limited to the following:
•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 peripherals, including software and hardware
systems, are correct.
•This robot does not have the relevant safety functions of a
complete autonomous mobile robot, including but not
limited to automatic anti-collision, anti-falling, creature
approach warning, etc. Relevant functions require
integrators and end customers to conduct safety
assessment in accordance with relevant provisions and
applicable laws and regulations to ensure that the
developed robot is free of any major hazards and hidden
dangers in practical application.
•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 operation content and operation
specifications.
•Choose a relatively open area for remote control,
because the vehicle itself does not have any automatic
obstacle avoidance sensors.
•Use in an ambient temperature of -20℃-60℃.
•If the vehicle does not individually customize the IP
protection level, its water-proof and dust-proof capacity
is IP66.
3.Check
•Ensure that each equipment has enough charge.
•Ensure that the vehicle has no obvious abnormalities.
•Check if the battery of the remote control has enough
charge.
•Make sure that the emergency stop switch has been
released when using.
4.Operation
•Ensure that the surrounding area is relatively open during
operation.
•Remote control within the line of sight.
•The maximum load of BUNKERPRO is 120KG. When in
use, ensure that the payload does not exceed 120KG.
•When installing an external extension for BUNKERPRO,
confirm the center of mass of the extension and make
sure it is at the center of rotation.
•When the equipment’s voltage is lower than 48V, please
charge it in time.
•When the equipment is abnormal, please stop using it
immediately to avoid secondary damage.
•When the equipment is abnormal, please contact the
relevant technical personnel and do not handle it without
authorization.
•Please use it in an environment that meets the
requirements of the protection level according to the IP
protection level of the equipment.
•Do not push the vehicle directly.
•When charging, make sure that the ambient temperature
is greater than 0°C.
5.Maintenance
•Regularly check the tension of the suspended track, and tighten the track every 150~200H.
•After every 500 hours of operation, check the bolts and nuts of each part of the body. I Tighten them immediately if they
are loose.
•In order to ensure the storage capacity of the battery, the battery should be stored with charge, and the battery should be
charged regularly if it is not used for a long time.
1. Effectiveness and responsibility
2.Environment

CONTENTS
1 Introduction to BUNKERPRO
1
3.4 Firmware upgrades
8
1.1 Product list
1
3.5 BUNKERPRO ROS Package
use example
9
1.2 Performance parameters
1
1.3 Requirement for development
1
4 Precautions
10
4.1 Battery precautions
10
2 Basic Introduction
2
4.2 Precautions for operational
environment
10
2.1 Instructions on electrical
interfaces
2
4.3 Precautions for electrical
external extension
10
2.2 Instructions on remote control
2
4.4 Safety precautions
10
2.3 Instructions on control
demands
and movements
3
4.5 Other precautions
10
3 Use and Development
4
5 Q&A
11
3.1 Use and operation
4
3.2 Charging
4
6 Product Dimensions
12
3.3 Development
4
6.1 Illustration diagram of product
dimensions
12
3.3.2 CAN cable connection
8
6.2 Illustration diagram of top
extended support dimensions
13
3.3.3 Implementation of CAN
command control
8

1
1 Introduction to BUNKERPRO
BUNKERPRO is a tracked chassis vehicle for all-round industry applications. It has the
characteristics of simple and sensitive operation, large development space, suitable for
development and application in a variety of fields, independent suspension system, heavy-duty
shock absorption, strong climbing ability, and being able to climb stairs. It can be used for the
development of special robots such as robots for inspection and exploration, rescue and EOD,
special shooting, special transportation, etc., to solve robot movement solutions.
1.1 Product list
Name
Quantity
BUNKER PRO Robot Body
X1
Battery Charger(AC220V)
X1
Aviation male plug (4-Pin)
X1
FS remote control transmitter(Optional)
X1
USB to CAN communication module
X1
1.2 Tech specifications
Parameter Types
Items
Values
Dimensions
Dimensions
1064mm*845mm*73mm
Chassis height
120mm
Track width
150mm
Length
740mm
Weight
Weight
About180kg
Load
120kg
Battery
Type
Lithium battery
Capacity
60AH
Voltage
48V
Motion
Maximum climbing capacity
30°
Maximum speed
1.5m/s
Minimum turning radius
Can rotate in place
Maximum obstacle
180mm
Motor parameters
2×1500W brushless servo
motor
Code disk parameters
2500 lines
Operating temperature
-20~60°
Reduction ratio
1：7.5
Control
Control mode
Remote control
RC transmitter
2.4G/extreme distance 200M
Communication interface
CAN
1.3 Requirement for development
BUNKERPRO is equipped with FS remote control at the factory, and users can control the
BUNKERPRO mobile robot chassis through remote control to complete the movement and
rotation operations; BUNKERPRO is equipped with CAN interface, and users can carry out
secondary development through it.

2
2 The Basics
This section will give a basic introduction to the BUNKERPRO mobile robot chassis, so that users
and developers have a basic understanding of the BUNKERPRO chassis.
2.1Instructions on electrical interfaces
The rear electrical interfaces are shown in Figure 2.1, where Q1 is the CAN and 48V power aviation interface,
Q2 is the power switch, Q3 is the charging interface, Q4 is the antenna, Q5 and Q6 are respectively the driver
debugging interface and the main control debugging interface (not open to the outside), and Q7 is the power
display interaction.
Figure 2.1 Rear Electrical Interfaces
The definition of Q1's communication and power interface is shown in Figure 2-2.
1
2 3
Pin No.
Pin Type
Function
and
Definition
Remarks
1
Power
VCC
Power positive, voltage
range 23 - 29.2V,
Max.current 10A
2
Power
GND
Power
negative
3
CAN
CAN_H
CAN bus
high
4
CAN
CAN_L
CAN bus
low
4
2.2 Instructions on remote
control
Figure 2.2 Pin Definition of the Rear
Aviation Extension Interface
FS remote control is an optional accessory for
BUNKERPRO. Customers can choose according to
actual needs. The remote control can easily control
the BUNKERPRO universal robot chassis. In this
product, we use the left-hand throttle design. Refer
to Figure 2.3 for its definition and function. The
functions of the buttons are defined as: SWA, SWC
and SWD are temporarily disabled; SWB is the
control mode selection button, dialed to the top is
the command control mode, dialed to the middle is
the remote control mode; S1 is the throttle button,
which controls the BUNKERPRO forward and
backward; S2 controls rotation, while POWER is
the power button, and you can turn on the remote
control by pressing them at the same time. It should
be noted that SWA, SWB, SWC, and SWD need to
be at the top when the remote control is turned on.
Figure 2.3 Schematic diagram of the FS remote
control buttons
Q7
Q4
Q2
Q6
Q1
Q5
Q3

3
X
Y
2.3 Instructions on control demands and movements
We set up a coordinate reference system for ground mobile vehicle according to the ISO 8855 standard
as shown in Figure 2.4.
Z
Figure 2.4 Schematic Diagram of Reference Coordinate System for Vehicle Body
As shown in Figure 2.4, the vehicle body of BUNKERPRO is parallel to the X axis of the established
reference coordinate system.
In the remote control mode, push the remote control joystick S1 forward to move in the positive direction
of the X axis, and push S1 backward to move in the negative direction of the X axis. When S1 is pushed
to the maximum value, the movement velocity in the positive direction of the X axis is the maximum, and
when it’s pushed to the minimum value, the movement velocity in the negative direction of the X axis is
the maximum; the remote control joystick S2 controls the rotation of the vehicle body left and right. When
S2 is pushed to the left, the vehicle body rotates from the positive direction of the X axis to the positive
direction of the Y axis, and when S2 is pushed to the right, the vehicle body rotates from the positive
direction of the X axis to the negative direction of the Y axis. When S2 is pushed to the left to the
maximum value, the linear velocity of counterclockwise rotation is the maximum, and when S2 is pushed
to the right to the maximum value, the linear velocity of clockwise rotation is the maximum.
In the control command mode, the positive value of the linear velocity means moving in the positive
direction of the X axis, and the negative value of the linear velocity means moving in the negative
direction of the X axis; the positive value of the angular velocity means that the vehicle body moves from
the positive direction of the X axis to the positive direction of the Y axis, and the negative value of the
angular velocity means that the vehicle body moves from the positive direction of the X axis to the
negative direction of the Y axis.
3 Use and Development
This section mainly introduces the basic operation and use of the BUNKERPRO platform, and how to
carry out the secondary development of the vehicle body through the external CAN interface and the CAN
bus protocol.
3.1 Use and operation
Check
Startup
•Check the condition of the vehicle body. Check if
the vehicle body has obvious abnormalities; if so,
please contact after-sales support;
•When using for the first time, confirm whether Q2
(power switch) in the rear electrical panel is
pressed; if it is not pressed, please press it and
release it, then it is in the released state.
Shutdown
•Press the power switch (Q2 in the electrical
panel); under normal circumstances, the light
of the power switch will light up, and the
voltmeter will display the battery voltage
normally;
•Check the battery voltage. If the voltage is
greater than 48V, it means the battery
voltage is normal. If the voltage is lower
than 48V, please charge; when the voltage
is lower than 46V, BUNKERPRO cannot
move normally.
•Press the power switch to cut off the power;
•After starting the BUNKERPRO robot chassis normally, start the remote control and select the
remote control mode to control the movement of the BUNKER PRO platform through the remote
control.
Basic operating procedures of remote control:

4
3.2 Charging
BUNKERPRO is equipped with a standard charger by default, which can meet the charging needs of
customers. The specific operating procedures of charging are as follows:
Make sure that the BUNKERPRO chassis is in a shutdown state. Before charging, please make sure
that Q2 (power switch) in the rear electrical console is turned off; insert the plug of the charger into the
Q3 charging interface in the rear electrical control panel;
Connect the charger to the power supply and turn on the charger switch to enter the charging state.
When charging by default, there is no indicator light on the chassis. Whether it is charging or not
depends on the status indicator of the charger.
3.3 Development
BUNKERPRO provides a CAN interface for the user's development, and the user can control the vehicle
body through this interface.
The CAN communication standard in BUNKERPRO adopts the CAN2.0B standard; the communication
baud rate is 500K, and the message format adopts the MOTOROLA format. The linear velocity of the
movement and the angular velocity of the rotation of the chassis can be controlled through the external
CAN bus interface; BUNKERPRO will feedback the current movement status information and the status
information of the BUNKERPRO chassis in real time.
The protocol includes system status feedback frame, movement control feedback frame, and control frame.
The content of the protocol is as follows:
The system status feedback command includes the current vehicle body status feedback, control mode
status feedback, battery voltage feedback, and fault feedback. The content of the protocol is shown in
Table 3.1.
Table 3.1 Feedback Frame of BUNKERPRO Chassis System Status
Command Name System Status Feedback Command
Sending node
Receiving node
ID
Cycle （ ms ）
Receive time-out (ms)
Steer-by-wire chassis
Decision-making
control unit
0x221
200ms
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
0x02 System exception
byte [1]
Mode control
unsigned int8
0x00 Standby mode
0x01 CAN command control mode
0x03 Remote control mode
byte [2]
byte [3]
The battery voltage is
8 bits higher
The battery voltage is
eight bits lower
unsigned
int16
Actual voltage × 10 (with an accuracy of 0.1V)
byte [4]
byte [5]
Reserved
Failure
information
-
unsigned int8
0x0
Refer to [Description of Fault Information]
byte [6]
Reserved
-
0x00
byte [7]
Count check (count)
unsigned int8
0~255 cycle count; every time an instruction is sent,
the count will increase once

5
Table 3.2 Description of Fault Information
Description of Fault Information
Byte
Bit
Meaning
byte [5]
bit [0]
Battery undervoltage fault
bit [1]
Battery undervoltage warning
bit [2]
Remote control disconnection protection (0:
normal, 1: remote control disconnection)
bit [3]
No.1 motor communication failure (0: No
failure 1: Failure)
bit [4]
No.2 motor communication failure (0: No
failure 1: Failure)
bit [5]
Reserved, default 0
bit [6]
Reserved, default 0
bit [7]
Reserved, default 0
The command of movement control feedback frame includes the feedback of current linear velocity and
angular velocity of moving vehicle body. The specific protocol content is shown in Table 3.3.
Table 3.3 Movement Control Feedback Frame
Command Name Movement Control Feedback Command
Sending
node
Receiving node
ID
Cycle （ ms ）
Receive time-
out(ms)
Steer-by-
wire
chassis
Decision-making
control unit
0x221
20ms
None
Data
length
0x08
Position
Function
Data type
Description
byte [0]
byte [1]
The movement
speed is 8 bits
higher
The movement
speed is 8 bits
lower
signed int16
Actual speed × 1000 (with an accuracy of
0.001m/s)
byte [2]
byte [3]
The rotation speed
is 8 bits higher
The rotation speed
is 8 bits lower
signed int16
Actual speed × 1000 (with an accuracy of
0.001rad/s)
byte [4]
Reserved
-
0x00
byte [5]
Reserved
-
0x00
byte [6]
Reserved
-
0x00
byte [7]
Reserved
-
0x00
The control frame includes linear velocity control opening, angular velocity control opening and check
sum. The specific content of the protocol is shown in Table 3.4.

6
Command
Name
Table 3.4 Movement Control Frame
控制指令
Command
Name
Control Mode
Sending node
Receiving node
ID
Cycle（ms） Receive time-out(ms)
Decision-
making
control unit
Chassis node
0x111
20ms
None
Data length
0x08
Position
Function
Data type
byte [0]
The linear velocity
is eight bits higher
signed int16
Moving speed of vehicle body , unit: mm/s, range [-1700,1700]
byte [1]
The linear velocity
is eight bits lower
byte [2]
The angular
velocity is
eight bits
higher
signed int16
Angular velocity of vehicle body rotation, unit: 0.001rad/s, range [-
3140,3140]
byte [3]
The angular
velocity is
eight bits
lower
byte [4]
Reserved
—
0x00
byte [5]
Reserved
—
0x00
byte [6]
Reserved
—
0x00
byte [7]
Reserved
—
0x00
The mode setting frame is used to set the control interface of the terminal. The specific protocol content is shown
in Table 3.5
Table 3.5 Control Mode Setting Frame
Command Name Control Mode Setting Command
Sending node
Receiving node
ID
Cycle （ ms ）
Receive time-out(ms)
Decision-making
control unit
Chassis
node
0x421
20ms
500ms
Data length
0x01
Position
Function
Data type
Description
byte [0]
CAN control
enable
unsigned int8
0x00 Standby mode
0x01 CAN command
mode enable
Note [1] Description of control mode
When the remote control of BUNKERPRO is not powered on, the control mode is standby mode by default,
and you need to switch it to command mode to send movement control command. If the remote control is
turned on, the remote control has the highest authority and can shield the control of commands. When the
remote control is switched to the command mode, it still needs to send the control mode setting command
before responding to the speed command.
The status setting frame is used to clear system errors. The specific protocol content is shown in Table 3.6.
Table 3.6 Status Setting Frame
Command Name
Status Setting Command
Sending node
Receiving node
ID
Cycle (ms)
Receive time-out
Decision-making
control unit
Chassis node
0x441
None
None
Data length
0x01
Position
Function
Data type
Description
byte [0]
Error clearing
command
unsigned int8
0x00 clear all errors
0x01 Clear motor 1’s error
0x02 Clear motor 2’s error