AgileX RANGER MINI User manual

RANGER MINI
AgileX Robotics Team
2020.03
V.1.0.0
User Manual

Safety information included in this manual, any individual or organization
must read and understand these information. Please contact us at
[e-mail] for any questions. It is important to follow and implement
all assembly instructions and guidelines in this manual, especially pay
attention the information with 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. RANGER MINI 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 RANGER MINI,
because RANGER MINI is not equipped with
any automatic obstacle avoidance sensor.
Use RANGER MINI always under 0℃~40℃
ambient temperature.
If RANGER MINI is not configured with
separate custom IP protection, its water and
dust protection will be IP22 ONLY.
3.Pre-work Checklist
Make sure each device has
sufficient power.
Make sure RANGER MINI does
not have any obvious defects.
Check if the remote controller
battery has sufficient power.
4.Operation
The maximum load of RANGER MINI is 50KG. When
in use, ensure that the payload does not exceed
50KG.
When installing an external extension on RANGER
MINI, 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 in low
electricity alarm.
When RANGER MINI has a defect, please
immediately stop using it to avoid secondary
damage.
When RANGER MINI has had a defect, please
contact the relevant technical to deal with it,
do not handle the defect by yourself.
Always use RANGER MINI in the environment
with the protection level requires for the
equipment .
Do not push RANGER MINI
directly.
When charging, make sure the ambient temperature is above 0℃.
In remote control operation, make sure the
area around is relatively spacious.
Carry out remote control within the range of
visibility.

5.Maintenance
If the tires are seriously worn, please replace in time.
The battery should be charged regularly in 2 to 3 months when not used for a
long time.

1
CONTENTS
1 RANGER MINI
Introduction.............................................................1
1.1 Component list.................................................................................1
1.2 Tech specifications............................................................................1
1.3 Required for development................................................................2
2 The Basics.......................................................................................3
2.1 Status Indication...............................................................................3
2.2 Description of electrical interface.....................................................4
2.3 Instruction on remote control..........................................................4
3 Getting Started...............................................................................5
3.1 Use and operation............................................................................5
3.2 CAN Message Protocol....................................................................6
3.3 Firmware upgrades..........................................................................6
3.5 RANGER MINI ROS Package............................................................12

2
1 RANGER MINI Introduction
RANGER MINI is designed as a programmable all-direction UGV (UNMANNED
GROUND VEHICLE), which is a chassis adapted with Ackerman steering.
Compared with the four-wheel differential chassis, RANGER MINI has obvious
advantages on ordinary cement and asphalt. Not only can the movement
speed and load capacity be higher, but also reduces the wear on the structure
and the tire, and is more stable and safe. Compared with the front wheel
Ackerman model chassis, RANGER MINI not only reduces the turning radius,
but also can zero turning. RANGER MINI combines the advantages of
differential chassis and Ackerman chassis, it suitable for a variety of complex
terrains. At the same time, it can equip with stereo camera, Lidar, GPS, IMU,
manipulator and other equipment, which can be used in unmanned inspection,
security, scientific research, exploration and logistics and other fields.
1.1 Component list
Name
Quantity
RANGER MINI Robot Body
x1
Battery Charger(AC 220V)
x1
Aviation plug （ 4Pin ）
X1
FS remote control
transmitter(Optional)
x1
USB to CAN communication module
x1
USB to RS232
x1
AgileX test module
x1
1.2 Tech specifications
Parameter Types
Items
Values
Mechanical specifications
L ×W ×H
558 ×492 ×420
Wheelbase(mm)
360
Front/rear wheelbase(mm)
360
Weight(KG)
50KG
Battery type
Lithium iron phosphate
8

3
Battery specification
24V30AH (standard)
24V60AH (optional)
Power drive motor
250W×4
Steering drive motor
120W×4
Parking type
Electronic brake
Steering type
Four-wheel independent
Code specification
1024 line
Suspension
Swing arm suspension
Performance specifications
Protection level
IP22
Maximum speed (m/s)
1.5
Minimum turning radius (mm)
0
Maximum climbing capacity (°)
10°with load
Minimum ground clearance (mm)
(mm)(（（（((9(mm)(mm)(mm)
212
Maximum operating Time (h)
5-6
Maximum Travel (km)
30
Charging Time
4
Operating temperature (℃)
-10~40
Control specifications
Control mode
Remote control Command
control mode
Remote control
24G/ Maximum distance 1Km
Communication interface
CAN
1.3 Required for development
FS RC transmitter is provided (optional) in the factory setting of RANGER MINI,
which allows users to control the chassis and complete mode switching,
movement and steering control operations. CAN and RS232 interfaces on
RANGER MINI can be used for user’s customization.

4
2 TheBasics
This section provides a brief introduction to the RANGER MINI mobile robot
platform. It is convenient for users and developers to have a basic understanding
of RANGER MINI chassis.
Figure 2.1 Rear View
RANGER MINI adopts a modular and intelligent design concept. The composite
design of solid tire and swing arm suspension on the power module, coupled
with the powerful hub motor, makes the RANGER MINI robot chassis has strong
pass ability and ground adapt ability, and can move flexibly on different ground.
The use of the hub motor eliminates the need for complex transmission design
structures, making the RANGER MINI more smaller and flexible. At the rear of
RANGER MINI is equipped with an open electrical interfaces and
communication interfaces, which is convenient for customers to carry out
secondary development. The electrical interface adopts aviation waterproof
connector in the design and selection, on the one hand, it is beneficial to the
expansion and use for users, on the other hand, the robot chassis can be used
in some serious environment. A standard extension aluminium bracket is
installed on the top of the RANGER MINI, which is convenient for user to equip
with external equipment for extended use.
1. Rear Electrical Panel
2. Battery Change Panel
3. Standard Profile Support

5
2.1 Status Indication
Users can identify the status of vehicle body through the voltmeter, the beeper
and CAN message on RANGER MINI. For details, please refer to Table 2.1.
Status
Description
Voltage
The current battery voltage can be
read from the voltmeter on the rear
electrical panel.
Robot powered on
Rear lights are switched on.
Low voltage alarm
When the battery voltage is lower
than 24.5V (if the BMS is connected,
the SOC is judged to be lower than
15%) , the vehicle body will give a
beep-beep-beep sound as a
warning.When the battery voltage is
detected as lower than 24V(if the BMS
is connected, the SOC is judged to be
lower than 10%), SCOUT 2.0 will
actively cut off the power supply to
external extensions and drive to
prevent the battery from being
damaged. In this case, the chassis will
not enable movement control and
accept external command control.
Detailed status information
Read by CAN message
Table 2.0 Descriptions of Vehicle Status
2.2 Description of electrical interface
Q1.Switch
Q2.Power Display
Q3.Extended Interface
Figure 2.2 Rear View

6
There is a aviation extended interface equip at the rear of the RANGER MINI, the
aviation extended interface equip with a set of batteries and CAN communication
interface. It is convenient for users to provide power for the extended equipment
and communication.(The load current can’t exceed 15A, and the voltage range is
24~27V.) The specific definitions of pins are shown in the figure below. It should be
noted that, the extended power supply here is internally controlled, which means
the power supply will be actively cut off once the battery voltage drops below the
safety voltage. Therefore, users need to notice that RANGER MINI will send a low
voltage alarm before the threshold voltage is reached and also pay attention to
battery charging during use.
Pin No.
Pin Type
Function and
Definition
Remarks
1
Power
VCC
Power positive,
voltage range 24-27V,
Load current can’t
exceed 15A.
2
Power
GND
Power negative
3
CAN
CAN_H
CAN bus high
4
CAN
CAN_L
CAN bus low
Figure 2.3 Description of Rear Aviation Interface Pins
2.3 Instruction on remote control
As shown in the picture of right, the
function of the button is defined as: SWB
is the control mode select button, dial to
the top is command control mode, dial to
the middle is remote control mode. SWC
and SWD are the chassis motion mode
setting switches. (Turn SWC and SWD to
top, middle and bottom positions
according to the combination shown in the
Figure 2.4 Schematic Diagram of Buttons on FS RC transmitter
SWC(UP)+SWD(UP)=Front and rear Ackerman mode
SWC(MID)=Spinning mode
SWC(UP)+SWD(DOWN)=Diagonal moving mode
SWC(DOWN)=Traverse mode
Note: The left and right direction of Si control the speed in
traverse and spinning modes

7
figure to set the chassis to the

8
corresponding motion mode.) SWA is a reserved function switch that hasn’t been
opened yet. S1 is the throttle, the front and rear direction of the joystick is to control
the forward and backward speed of the four-wheel independent steering chassis. ( In
front and rear Ackerman steering and diagonal moving modes.) The left and right
direction of the joystick is to control the speed of traversing and spinning. The lift and
right direction of the S2 joystick is to control the steering angle of the wheel, and
POWER is the power button, press and hold at the same time to turn on.
The basic operation process of remote control:
After turning on the RANGER MINI, start the transmitter and set the SWB to the
remote control mode to control the movement of the chassis though the transmitter.
3 Getting Started
This section introduces the basic operation and development of the RANGER
MINI platform using the CAN bus interface. The secondary development of
RANGER MINI is through the CAN bus protocol.
3.1 Use and operation
Check
⚫Check the condition of vehicle body.
Check whether there are significant anomalies; if so, please contact the after-
sale service.
For first-time use, check whether Q3 (drive power supply switch) on the rear
panel has been pressed down; if so, please press and release, then it is in the
released state, and the RANGER MINI is in the power-off state.
⚫Turn on and turn off: The switch marked with “STOP”at the end is the
power switch, which can be turned on clockwise (the voltmeter lights up)
and pressed to turn off the power. After starting, it needs to wait for the
chassis to complete the zero alignment process before control.
⚫Charging: Check the battery voltage, the normal voltage rage is 24~26.8V,
if there is “beep-beep..”continuous buzzer sound, it means that the
battery voltage is too low, please charge in time. The product equipped
with a 10A charger. Plug the charger into the the charging socket at the
left side of the chassis. Power on the charger, turn on the switch on the
charger, enter the charging state.

9
CAN cable connection
⚫RANGER MINI deliver with a aviation male plug, the definitions of wire
please refer to the figure below.
Red: VCC (positive pole)
Black: GND (negative pole)
Blue: CAN_L
Yellow: CAN_H
Implementation of CAN command control
⚫Turn on the RANGER MINI normally, open the remote control, and
then turn the control mode to command control, that is, switch the
SWB mode selection of the remote control to the top. At this time,
RANGER MINI will receive the command from CAN interface, and the
host CAN can analyze the chassis state though the real-time data
feedback from the CAN bus. For the detailed content of the protocol,
please refer to CAN communication protocol.
3.2 CAN Message Protocol
RANGER MINI adopts CAN2.0B communication standard which has a
communication baud rate of 500K and MOTOROLA message format.
Though external CAN bus interface, the moving linear speed and the
steering angle of chassis can be controlled; RANGER MINI will feedback
on the current movement status information (include the integrated
motion information and the detailed motion information of each
wheel ) and its system status information (include the error codes
diagnoses by itself) in real time.

10
Table 1 Description of Failure Information
Description of Failure Information
Byte
Bit
Description
byte [4]
bit[0]~bit[7]
Reserve, default value 0
byte [5]
bit [0]
Left back steering zero calibration state (0: Normal 1:
Failure)
bit [1]
Left front steering zero calibration state (0: Normal 1:
Failure)
bit [2]
Right front steering zero calibration state (0: Normal 1:
Failure)
bit [3]
Right back steering zero calibration state (0: Normal 1:
Failure)
bit [4]
Steering calibration timeout or block (0: Normal 1: Failure)
bit [5]
Reserve, default value 0
bit [6]
Reserve, default value 0
Command System Status Feedback Command
Name
Sending node
Receiving node
ID
Cycle(ms）
Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x211
20ms
None
Data length
0x08
Location
Function
Data type
Description
byte [0]
Current status of
vehicle
unsigned int8
0x00 Normal condition
0x02 System Error
byte [1]
Control mode
unsigned int8
0x00 Stand by
0x01 CAN command control
0x03 Remote control
byte [2]
byte [3]
Battery voltage
upper 8 bits
Battery voltage
lower 8 bits
unsigned int16
Actual voltage ×10( Accuracy 0.1V )
byte [4]
byte [5]
byte [6]
byte [7]
Failure information
highest 8 bits
Failure Information
second highest 8
bits
Failure Information
second lowest 8
bits
Failure Information
lowest 8 bits
unsigned int32
Refer to Table1

11
bit [7]
Reserve, default value 0
byte [6]
bit [0]
Driver state failure (0: Normal 1: Failure)
bit [1]
Upper communication connect state (0: Normal 1: Failure)
bit [2]
Motor 5 driver communication failure (0: Normal 1:
Failure)
bit [3]
Motor 6 driver communication failure (0: Normal 1:
Failure)
bit [4]
Motor 7 driver communication failure (0: Normal 1:
Failure)
bit [5]
Motor 8 driver communication failure (0: Normal 1:
Failure)
bit [6]
Over temperature protection (0: Normal 1: Failure)
bit [7]
Over current protection (0: Normal 1: Failure)
byte [7]
bit [0]
Battery over voltage failure (0: Normal 1: Failure)
bit [1]
Reserve, default value 0
bit [2]
Remote control lose contact protection (0: Normal 1:
Failure)
bit [3]
Motor 1 driver communication failure (0: Normal 1:
Failure)
bit [4]
Motor 2 driver communication failure (0: Normal 1:
Failure)
bit [5]
Motor 3 driver communication failure (0: Normal 1:
Failure)
bit [6]
Motor 4 driver communication failure (0: Normal 1:
Failure)
bit [7]
Reserve, default value 0
The motion control feedback frame command includes the feedback of linear
and angular speed of chassis. Please refer to the table below.
Command
Name
Motion Control Feedback Command
Sending node
Receiving node
ID
Cycle（ms）
Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x221
20ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
byte [1]
Moving speed
upper 8 bits
Moving speed
lower 8 bits
signed int16
Actual speed X 1000 (Unit 0.001m/s )

12
The motion control frame includes linear speed control command and
steering angle control command . Please refer to the table below.
Command
Name
Control Command
Sending
node
Receiving
node
ID
Cycle（ms）
Receive-timeout(ms)
Decision-
making
control unit
Chassis node
0x111
20ms
500ms
Data
length
0x08
Position
Function
Data
type
Description
byte [0]
byte [1]
Linear speed
upper 8 bits
Linear speed
lower 8 bits
Signed
int16
Moving speed, unit mm/s (Effective value
+-1500, when the steering angle is greater
than 20°, the effective value is +-750.
Works in front and rear Ackerman and
diagonal moving modes.)
byte [2]
Reserve
—
0x00
byte [3]
Reserve
—
0x00
byte [4]
Spinning or
traverse speed
upper 8 bits
Signed
int16
Moving speed, unit mm/s (Effective
value + -1000, works in spinning and
sideways moving modes)
byte [5]
Spinning or
traverse speed
lower 8 bits
byte [2]
byte [3]
Reserve
Reserve
-
-
0x00
0x00
byte [4]
Reserve
-
0x00
byte [5]
Reserve
-
0x00
byte [6]
Steering angle
upper 8 bits
signed int16
Actual angle X 100 (Unit 0.01°)
byte [7]
Steering angle
lower 8 bits

13
byte [6]
Steering
angle upper 8
bits
Signed int16
Steering angle, unit 0.01°(Effective
value + -4000, works in front and rear
Ackerman and diagonal moving modes.)
byte [7]
Steering
angle lower
8 bits
As shown in Figure 3.2.1, when the RANGER MINI is in the front and rear Ackerman
mode, the feedback steering angle is (A1+A2)/2, and the negative value is the left
direction, the positive value is right direction. The feedback speed is the average speed
of the four wheels ( is the linear speed of chassis motion), the negative value is
reversing, positive value is go forward. If you need to check the detailed steering angle
and speed information for each wheels, please refer to 0X271 and 0X281 feedback
frame.
Figure 3.2.1 RANGER MINI Ackerman structure

14
14
As shown in Figure 3.2.2, when the RANGER MINI is in the diagonal moving mode, the
feedback steering angle is (α1+α2+α3+α4)/4, the negative value is left direction,
the positive value is right direction. The feedback linear speed is the average speed of
the four wheels, the negative value is reversing, positive value is go forward. If you
need to check the detailed steering angle and speed information for each wheels,
please refer to 0X271 and 0X281 feedback frame.
Figure 3.2.2 Diagonal Moving Structure of RANGER MINI
When the chassis is in spinning/traverse mode, the steering angle is fixed value and
out of control, and the feedback of the steering angle is the average value of the
absolute values of the four actual angles, α1, α2, α3 and α4. Chassis
spinning/traverse speed can control by the command.
The mode setting frame is use to set the terminal control interface. The detailed
protocol content is as follow.
Command
Name
Control Command
Sending
node
Receiving
node
ID
Cycle（ms）
Receive-
timeout(ms)
Decision-
making
control unit
Chassis
node
0x421
None
None

15
15
Data
length
0x01
Position
Function
Data type
Description
byte [0]
Control
mode
unsigned
int8
0x00 Standby mode
0x01 CAN command mode
Enters standby mode by default
when powering up
Control mode description: When the chassis is powered on and the remote control is
disconnected, the control mode is standby mode by default. At this time, the chassis
only receives the command of control mode, and other commands do not respond. To
use CAN for control, you need to switch to CAN command mode. If turn on the remote
control, the remote control has the highest authority and can shield the control of
commands and switch the control mode.
The status setting frame is use to clear the system errors, and the specific protocol
content is as bellow.
Command
Name
Status Setting Command
Sending
node
Receiving
node
ID
Cycle（ms）
Receive-
timeout(ms)
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 nonfatal failure
0x01~ 0x08 Correspondingly clear
the communication failure of the
1~8 motor drives respectively
0x09 Clear the battery under voltage
failure and try to restore the power
supply
0x0a Clear the remote control signal
loss failure
0x0b~0x0e Correspondingly clear the
communication failure of the 5~8
motor drives respectively
0x0f Clear over current failure
0x10 Clear over temperature failure
Testing data : The following data is used for testing only.

16
16
1. The chassis moves forward at 0.15m/s.
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
0x01
0x96
0x00
0x00
0x00
0x00
0x00
0x00
2.The chassis steering angle is 10 ° .
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
0x00
0x00
0x00
0x00
0x00
0x00
0x03
0xe8
In addition to the feedback of chassis status, the information of the chassis feedback
also includes the steering angle and speed of the four wheels, the current information
of the motor, the encoder and the temperature information.
The specific protocol content is as follow:
PS: The eight motor numbers in the chassis correspond to: right front wheel No. 1,
right rear wheel No. 2, left rear wheel No. 3, left front wheel No. 4, right front steering
No. 5, right rear turn to No. 6, left rear steering No. 7 , and left front steering No. 8.
The feedback of motor rotational speed current position information
Command
Name
Motor Rotational Speed Feedback Frame
Sending
node
Receiving
node
ID
Cycle（ms）
Receive-
timeout(ms)
Steer-by-
wire
chassis
Decision-
making control
unit
0x251~0x
258
20 ms
None
Data
length
0x08
Position
Function
Data
type
Description
byte [0]
byte[1]
Motor rotational
speed upper
8bits
Motor
rotational
speed lower
8bits
signed
int16
Motor rotational speed
Unit RPM