AgileX RANGER MINI 2.0 User manual

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RANGERMINI2.0
AgileXRoboticsTeam
USERMANUALV.2.0.12023.08
Documentversion
RANGERMINI2.0UserManual
No. Version Date Edited by Reviewer Notes
1 V1.0.0 2023/2/6 何士玉 First draft

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Added odometer data
feedback
Added remote control
data feedback
Changed firmware
upgrade method and
instructions
Optimize layout
Add battery precautions
Added usage
environment
precautions
Add safety precautions
Change self-weight
parameters
Modify the spin
protocol,
Modify the coordinate
system definition
Modify the rotation
angular velocity unit
Add upper PC
download link
2 V1.0.1 2023/3/1 何士玉
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3 V1.0.2 2023/3/21 何 ⼠ ⽟
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4 V1.0.3 2023/5/4 何 ⼠ ⽟
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5 V1.0.4 2023/5/20 李 圣 望
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6 V1.0.5 2023/6/6 吴 忠 义
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Before using the robot, any individual or organization must read and understand the manual. If you
have any questions about it, please do not hesitate to contact us at [email protected] . It is very
important that you shouldfollow and implement all instructions and guidelines in this manual.
Please pay extra attention to the warnings.
ImportantSafetyInformation
Add boot instructions in
parking mode
Add charging
instructions
Added remote control
battery replacement
instructions
Change parameters
Add rendering
Adjustment format
Update ROS package
usage description
Add charging icon
description
Added battery
replacement icon
instructions
Add main image
7 V1.0.6 2023/8/22 何 ⼠ ⽟
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8 V1.0.7 2023/9/02 谢 瑞 亲
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9 V1.1.0 2023/9/02 何 ⼠ ⽟
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This manual does not cover the design, installation, and operation of a robotic application, nor
does it include any equipment that may affect the safety of a robotic system. A robotsystem that
uses the RANGER MINI 2.0should bedesigned and used in compliance with the safety
requirements and other standards of the corresponding countries.
Anyusersof the RANGER MINI 2.0should comply with laws and regulations of relevant countries
and ensure that there are no obvious hazards in the application of the RANGER MINI 2.0MINI
2.0MINI 2.0. This includes but is not limited to the following:
Effectivenessandresponsibility
Do a risk assessment of the robotic system that uses the RANGERMINI 2.0.
The risk assessment should include additional safety equipment to other machinery.
Please ensurethat the equipment of the whole robotic system, including software and
hardware, are designed, and installed correctly.
The RANGER MINI 2.0is notanautonomous mobile robot with anti-collision, anti-fall, biological
approach warning, and other safety functions. These safetyfunctions areexpected to be
developedand assessed by system integrators and end customers under relevant safety
regulations and laws to ensure there are not anymajor dangers and potential safety hazards in
their practical applications.
Read all technical documents: including the risk assessment and this manual.
Know the possible safety risks before using the RANGER.
UseEnvironment
For the first use, please read this manual carefully to understand the basic operation and
operating specifications.
Remote control operation should be in a relatively open area. The RANGER MINI 2.0does not
have any automatic obstacle avoidance sensors.
Please use the RANGER MINI 2.0under the ambient temperature of -10 ℃~40℃.
The RANGERMINI 2.0 ’ swaterproof and dustproof levelisIP54 if it is not customized.
Check
Make sure each device is fully charged.
Make sure the RANGER MINI 2.0has no obvious abnormalities.
Make sure the remote control has sufficient battery power.
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Precautions
OperationPrecautions
Ensure that the surrounding area is relatively open when operating the RANGER.
Please do remote control within sight.
The maximum load of the RANGER MINI 2.0is 80 KG. Please ensure that the payload does not
exceed 80 KG when using.
When installingexternal equipment on the RANGERMINI 2.0, Please ensure theircentroid
location is at the RANGERMINI 2.0 ’ scenter of rotation.
Please charge the RANGER MINI 2.0in time after low-battery alarm.
When the RANGER MINI 2.0is abnormal, please stop using it immediately to avoid secondary
injury.
When the RANGER MINI 2.0is abnormal, please contact the technical support immediately,
and do not handle it without professional suggestion.
Please use the RANGER MINI 2.0in an environment that does not exceed itsIP protection level.
Do not push the RANGER MINI 2.0directly.
The current of the tail extension power supply does not exceed 15A, and the total power does
not exceed 720w.
Battery
The battery of RANGER MINI products is not fully charged when it leaves the factory. The
specific battery voltage and power can be displayed through vol and batt on the RANGER MINI
remote control.
Please do not charge the battery after it is exhausted, please charge it in time when the low
battery of the RANGERMINI remote control is less than 15%
Static storage conditions: The optimal storage temperature is -10℃~40℃. When the battery is
not in use, it must be charged and discharged once every month, and then stored at full
voltage. Do not store the battery Place in fire, or heat the battery. Do not store batteries at high
temperatures.
Charging: You must use the matching lithium battery charger for charging. Do not charge the
battery below 0°C. Do not use non-original standard batteries, power supplies, and chargers.
Usageenvironment
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The operating temperature of RANGER MINI is -10°C~40°C, please do not use it in an
environment where the temperature is lower than -10°C and higher than 40°C
Do not use it in an environment with corrosive or flammable gases or near flammable
substances.
Please do not use it around heating elements such as heaters or large winding resistors
RANGER MINI is waterproof and dustproof rated IP55
It is recommended that the altitude of the use environment should not exceed 1000M
It is recommended that the temperature difference between day and night in the use
environment does not exceed 25℃
Safety
If you have any questions about the use process, please follow the relevant instruction manual
or consult relevant technical personnel.
Before using the equipment, pay attention to the on-site conditions to avoid improper operation
that may cause personal safety problems.
In case of emergency, press the emergency stop button to power off the equipment.
Do not modify the internal equipment structure without technical support and permission
When the equipment is abnormal, please stop using it immediately to avoid secondary injury
When an abnormality occurs in the equipment, please contact the relevant technical personnel
and do not handle it without authorization.
CONTENTS
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1IntroductiontotheRANGERMINI2.0
CONTENTS
Documentversion
ImportantSafetyInformation
Precautions
CONTENTS
1IntroductiontotheRANGERMINI2.0
1.1 Product List
1.2 Specifications
1.3 Required for Development
2BasicIntroduction
2.1Status of the RANGERMINI 2.0
2.2 Description of Electrical Interfaces
2.3 Remote Control Instructions
3UsageandDevelopment
3.1Operation
3.2 CAN Communication Protocol
3.3 RANGER MINI 2.0use manual for ROS
3.4 Firmware Upgrade
4ProductSize

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The RANGER MINI 2.0is a programmable omnidirectional UGV (UNMANNED GROUND VEHICLE),
which is a chassis with a modular design. Compared with the four-wheel differential chassis, the
RANGER MINI 2.0has obvious advantages when running on ordinary cement roadsand asphalt
roads. It not only has higher speed and load capacity, but also reduces the wear and tear on the
structure and tires. Itis also more stable and safer. Compared with Ackermann chassis,the
RANGER MINI2.0 not only reduces the turning radius, but also can turn at 0 angle.The RANGER
MINI 2.0combines the advantages of differential chassis and Ackermann chassis, which is
suitable for various complex terrains. What ’ smore, it can be equipped with stereo cameras,
LiDAR, GNSS, IMU, manipulators and other equipment to beapplied in fields such as unmanned
inspection, security, scientific research, exploration and logistics.
1.1ProductList
1.2Specifications
Name Quantity
RANGER MINI 2 body ×1
Battery charger (AC 220V) ×1
Aviation plug male (4Pin) ×1
FS remote controller(optional) ×1
USB to CAN communication module ×1
Type Items Parameters
Mechanical Dimensions (mm) 738×500×338
Axle Track (mm) 494
Front/rear track (mm) 364

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Kerb weight (Kg) 64.5
Battery type Lithium iron phosphate
Battery parameters 48V24AH
Power drive motor 350W×4
Steering drive motor 100W×4
Parkingtype Electronic brake
Steering type 4 wheels steering
Suspension Independent suspension
Steering motor reduction ratio 1:50
Steering motor encoder Multiturn absolute encoder (9
bit)
Drive motor reduction ratio 1:4.428
Drive motor sensor Hall
Performation IP grade IP54
Maximum speed （ km/h ） 5.4
Minimum turning radius (mm) 0mm
（ Spin mode ）
810mm （ Ackermann model ）
Maximum gradeability (°) 15° with load
Ground clearance (mm) 107
Maximum endurance (h) 7
Maximum travel (km) 35
Charging time (h) 1.5

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1.3RequiredforDevelopment
The RANGER MINI 2.0can be equipped with FS remote control when buying. Users can use it to
control the 4WDchassis, complete mode switching, movement and steering. The RANGER MINI
2.0hasa standard CAN (Controller Area Network) communication interfaceto facilitate secondary
development.
2BasicIntroduction
This part is a basic introduction to the RANGERMINI 2.0, mobile robot chassis. After reading this
part, users and developers can have an overall understanding about it. As shown in Figure 2.1
below, it is an overview of the RANGERMINI 2.0,.
Working temperature (℃) -10~40
Control
Control mode Remote control mode
Command control mode
Remote controller 2.4G/limit distance 200M
Communication Interface CAN

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Figure 2.1 Overview of the RANGERMINI 2.0
The RANGER MINI 2.0is based on a modular and intelligent design concept. It adopts a
composite design of solid tires and swing armsonthe power module, and has a powerful hub
motor, which makes the RANGER MINI 2.0 swift passing ability andground adaptability. It can
move flexibly on different ground. The hub motor does not requirecomplicated transmission
design, making the RANGER MINI 2.0smaller and more flexible. An open electrical interface and
communication interface are configured at the rear of the RANGERMINI 2.0, which is convenient
for users to carry out secondary development. The electrical interface adopts aviation waterproof
connectors, which is not onlyconducive to the expansion and use, but also allows the RANGER
MINI 2.0tobe used in some harsh environments. A standard aluminum extension bracket is
installed on the RANGERMINI 2.0, which is convenient for users to carry external equipment.
2.1StatusoftheRANGERMINI2.0
The user can check the status of the RANGER MINI 2.0through its CAN message. Please refer to
Table 2.1 for specific status.
Table 2.1 Status Description Table for the RANGER
Status Description
Voltage The current battery voltage can be viewed through BMS (Battery
Management System) feedback
Powered Status Lights on indicate power is on.
Low Voltage
Warning
When the SOC (State of Charge) ofthe battery is lower than 15% through
BMS feedback, the front and rear lights of the RANGER MINI 2.0 will flash
as a reminder. When the battery power is detected lower than 10%, the
4WDchassis will actively cut off the power supply for external
equipmentand driver to protectthebattery. At this time, the chassis will
not move and accept external command control.
Detailed Status
Information Check by CAN message

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2.2DescriptionofElectricalInterfaces
Figure 2.2 Back View of theRANGER MINI 2.0
The RANGER MINI 2.0has acircular connector for expansion at its rear. The interface can beused
to provide power for external equipment (the load current cannot exceed 15 A, and the voltage
range is 46~50 V) and transfer information through its CAN communication interface. Its pins
are defined in the figure below. Please note that its power supply is subject to internal control.
When the battery voltage is lower than the safe level, it will actively cut off the power supply.
Therefore, users need to pay attention to the low voltage alarm of the RANGER MINI 2.0before
reaching the critical voltage. Do not forget to charge the RANGER MINI 2.0after use.

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Figure 2.3 Pin descriptionsof the circular connector
2.3RemoteControlInstructions
Pin
Number Pin Type Function and Definition Note
1 Power supply VCC
Positiveterminal. The voltage range is
46~50 V
The load current cannot exceed 15 A.
2 Power supply GND Negative terminal
3 CAN CAN_H CAN Hi (High)
4 CAN CAN_L CAN Lo (Low)

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Figure 2.4 Introductionof the remote control
As shown in the figure above, the functions of the buttons are defined as follows: SWB is the
control mode selection lever, dialed to the top is the command control mode, dialed to the middle
or down is the remote control mode; SWA is the light control switch, dialed to the bottom is to turn
off the light (need SWB first enters the remote control mode); SWC is the ultrasonic obstacle
avoidance enable switch (this version does not support it), and when it is turned to the middle, the
ultrasonic obstacle avoidance function is turned on; when SWC is turned to the bottom, it is the
parking mode, and the four-wheel four-steering is X-shaped at this time Locking.
(especiallynotethatwhentheRANGERMINIisturnedoffinX-shapedparking,itneedsto
starttheswitchbuttontwicetoturnitonagain);
SWD is the switch for Motion mode:

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MovingSWD to the top is ① front and rear Ackerman mode(the left joystick controls the speed,
and the right joystick controls the steeringangle)+ ② spin mode (the left joystick does not move,
theright joystick controls the spindirection)
MovingSWD to the bottom is the oblique motion mode: the left joystick controls the speed, and
the right joystick controls the steeringangle (the maximum angle is 90°, which makesthe
RANGER MINI 2.0MINI 2.0MINI 2.0move laterally);
Moving SWA to the bottom + scrollingthe left scroll wheel to the bottom + pressingKEY1 =
enteringinto the automatic steering calibration procedure;
Moving SWA to the bottom + scrollingthe left scroll wheel to the bottom top + press KEY1 =
setting the zero point of the steering angle;
PressingKEY1 in any case = forcibly clear all errors of the RANGER.Attention!Tobeusedonly
inspecialcaseswheresafetyisguaranteed.
POWER is the power button. Press and hold itto power on.
Basicoperationprocessofremotecontrol:
Beforestarting,youneedtoensurethatthewheelsandchassisofRANGERMINIareparallel
andfacingforward.After starting the RANGERMINI 2.0 mobile robot chassis normally, start the
remote controller, switch the SWB to remote control mode, and then control the movement of the
RANGERMINI platform through the remote controller.
Remotecontrolbatteryreplacementinstructions:
The FS remote control uses 5AA batteries as its energy supply. When the remote control
display interface Remoter is relatively low, it means that the battery power of the remote control is
too low. At this time, you need to open the battery cover on the back of the remote control and
replace the battery.
3UsageandDevelopment
This part mainly introduces the basic operation and usageof the RANGER, and how to carry out
secondary development through the external CAN interface and the CAN bus protocol.

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3.1Operation
Check
Check the RANGER MINI 2.0status
Check whether there is any obvious abnormality in the RANGERMINI 2.0; if so, please contact
after-sales support;
When using it for the first time, check whether the power switch(Q3)in the rear electrical panel is
pressed, if pressed, please press it, and then release it. At this time, the power switch is released,
and the RANGER MINI 2.0is powered off.
Poweronandoff
The Q3 button on the tail is a switch button. When pressed, the power is turned on and the robot
is powered on.
Charge
Check the battery voltage, the normal voltage range is 45-54V, if the front light flashes, it means
the battery voltage is too low, please charge it in time. This product is equipped with a 10A
charger by default. Insert the plug of the charger into the Q4 charging socket on the back of the
chassis, connect the charger to the power supply, and turn on the switch on the charger to enter
the charging state.

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Batteryreplacement
RANGERMINI is equipped with a 48v24ah battery. During operation, when the battery power is too
low, we can open the battery panel on the right side to quickly replace the battery.

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ConnectionoftheCANCable
The 4WDchassis is shipped with ancircular connectormale head. The definition of its linescan
refer to the figure below:
Figure 3.1 Overview of the circular connector

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ImplementationofCANcommandcontrol
Start the RANGER MINI 2.0normally, turn on the remote control, and then switch the SWB to the
command control mode (move SWB to the top). At this time, the RANGER MINI 2.0will accept
commands from the CAN bus, and the host can also analyze the status of the RANGER MINI
2.0using the feedbackedreal-time data through the CAN bus. Refer to the CAN communication
protocol for details. (By default, when the chassis is started and the remote control is not started.)
3.2CANCommunicationProtocol
The CAN communication protocol in this product isCAN2.0B standard, its communication baud
rate is 500 K, and its message format is the MOTOROLA format. Through the external CAN
interface, users can switch the control model and control the linear speed and steering angle of
the RANGER. The RANGER MINI 2.0MINI 2.0MINI 2.0will real-time feedback the current
movement status information (including the integrated movement information of the vehicle and
the detailed movement information of each wheel) and the system status information (including
self-diagnostic error codes).
Command System Status Feedback Command
Node for sending Node for
receiving ID Period
（ ms ）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit 0x211 20ms None
Data length 0x08
Byte Meaning Data type Note
byte [0] Current vehicle
status
unsigned int8 0x00 The system is normal
0x02 The system is abnormal

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byte [1] Control mode unsigned int8
0x00 Standby mode
0x01 Command control mode
0x03 Remote control mode
byte [2]
High order
byteof battery
voltage
unsigned int16 Actual voltage X 10 (the unit is 0.1 V)
byte [3]
Low order
byteof battery
voltage
byte [4]
Highest order
byteof error
message
unsigned int32 Refer to the error message table for
details
byte [5]
High order
byteof error
message
byte [6]
Low order
byteof error
message