AgileX RANGER MINI 2.0 User manual

1 / 52
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

2 / 52
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
●
●
●
●
3 V1.0.2 2023/3/21 何 ⼠ ⽟
●
●
●
4 V1.0.3 2023/5/4 何 ⼠ ⽟
●
5 V1.0.4 2023/5/20 李 圣 望
●
●
●
6 V1.0.5 2023/6/6 吴 忠 义
●

3 / 52
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
●
●
●
●
8 V1.0.7 2023/9/02 谢 瑞 亲
●
●
●
9 V1.1.0 2023/9/02 何 ⼠ ⽟
●
●
●

4 / 52
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.
●
●
●
●
●
●
●
●
●
●
●
●
●

5 / 52
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
●
●
●
●
●
●
●
●
●
●
●
●
●
●

6 / 52
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
●
●
●
●
●
●
●
●
●
●
●
●

7 / 52
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

8 / 52
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

9 / 52
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

10 / 52
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