AgileX RANGER User manual

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RANGER
AgileXRoboticsTeam
UserManualV.2.0.12023.08
Documentversion
RANGERUserManual
No. Version Date Edited by Reviewer Notes
1 V1.0.0 2022/10/1
5何士玉 first draft

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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
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should bedesigned and used in compliance with the safety requirements and other
standards of the corresponding countries.
Change appearance
picture
Add odometer data
feedback
Add remote control
data feedback
Add rendering
Update how to use
ROS package
Change the content of
the agreement
Add charging
instructions
Added instructions for
battery replacement
Add encoder
parameters
2 V2.0.0 2023/03/0
8何士玉
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3 V2.0.1 2023/09/02 谢 瑞 亲
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4 V2.0.2 2023/09/07 何 ⼠ ⽟
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Anyusersof the RANGER should comply with laws and regulations of relevant countries and ensure
that there are no obvious hazards in the application of the RANGER. This includes but is not limited to
the following:
Responsibility
Do a risk assessment of the robotic system that uses the RANGER.
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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does not have any
automatic obstacle avoidance sensors.
Please use the RANGER under the ambient temperature of -10℃~40℃.
The RANGER ’ swaterproof and dustproof levelisIP22 if it is not customized.
Check
Make sure each device is fully charged.
Make sure the RANGER has no obvious abnormalities.
Make sure the remote control has sufficient battery power.
Attention
OperationPrecautions
Make sure the surrounding area is relatively clear during operation
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Remote control within sight range
The maximum load capacity of RANGER is 150KG. When using it, make sure the payload does not
exceed 150KG.
RANGER When installing an external extension, confirm the position of the center of mass of the
extension to ensure that it is at the center of rotation
When the device alarms for low battery, please charge it in time.
When something goes wrong with the equipment, please stop using it immediately to avoid
secondary damage.
When an abnormality occurs in the equipment, please contact the relevant technical personnel and
do not handle it without authorization.
Please use the device in an environment that meets the protection level requirements according to
the IP protection level of the device.
Please do not push the cart directly
The tail extension power supply current does not exceed 15A, and the total power does not exceed
720w.
Batteryprecautions
The battery of RANGER 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 remote control.
Please do not charge the battery after it is used up. Please charge it in time when the battery of the
RANGER 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 dedicated lithium battery charger for charging. Do not charge
the battery below 0°C. Do not use non-original standard batteries, power supplies, and chargers.
Precautionsforuseenvironment
The operating temperature of RANGER is -10℃~40℃. Please do not use it in environments with
temperatures below -10℃ or above 40℃.
Do not use it in an environment with corrosive or flammable gases or near flammable substances.
Please do not use it near heating elements such as heaters or large coil resistors.
RANGER is waterproof and dustproof to IP55
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It is recommended that the operating environment altitude does not exceed 1000M
It is recommended that the temperature difference between day and night in the use environment
does not exceed 25℃
SafetyPrecautions
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.
Please do not modify the internal device structure without technical support and permission.
When something goes wrong with the equipment, please stop using it immediately to avoid
secondary damage.
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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CONTENTS
Documentversion
ImportantSafetyInformation
Attention
CONTENTS
Overview
1.IntroductiontotheRANGER
1.1Specifications
1.2 Required for Development
2BasicIntroduction
2.1 Status of the RANGER
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Firmware Upgrade
3.4 RANGER use manual for ROS
3.5 The Github ROS development kit and user manual
3.6 The vehicle body coordinate system
4 Maintenance Instructions
4.1 Maintenance method
5ProductSize

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1IntroductiontotheRANGER
The RANGER 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 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 can realize in-situ steering and has
a wider range of applications. The RANGER 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 Performanceparameters
Name Quantity
RANGER robot body x1
Battery charger(AC 220V) x1
Aviation plug male （ 4Pin ） x1
FS remote control (optional) x1
USB to CAN communication module x1
Parameter Types Items Values
Mechanical specifications L × W × H (mm) 1228×876x475
Wheelbase (mm) 560
Axle Track （ mm ）
890
Curb weight (kg) 100

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Battery Type Lithium iron phosphate battery
Battery parameters 48V24AH(single battery)
Power drive motor 48v brushless toothed motor
Drive motor power (w) 600w×4
Drive motor torque (N.M) 22NM×4
Steering motor torque
(N.M) 35nm×4
Steering motor power (w) 100
Steering motor encoder Multi-turn absolute value
Drive motor encoder Hall
Parking mode Electronic parking
Steering Four wheels four steering
Suspension form Independent suspension
Performance parameters Maximum speed (km/h) 2.6
Maximum obstacle
crossing
100（Vertical obstacles fully
loaded）
Maximum gradeability (°) 10
Weight (kg) 135(single battery)
Loading capacity (kg) 150
Maximum battery life (h) 2-8
Charging time (h) 1（single battery）

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1.2RequiredforDevelopment
The RANGER 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 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, 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.
Single battery capacity
(ah)
24（Supports up to four
batteries）
Rated voltage (v) 48
RC transmitter 2.4G/extreme distance 200M
System interface CAN
Functional Application
Engineering Investigation
Energy Inspection
Mine Transportation
Intelligent Security
Logistics
Agricultural Product Collection and
Transportation

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Figure 2.1 Overview of the RANGER
The RANGER is based on a modular and intelligent design concept. It adopts a composite design of
pneumatic tires and independent suspension onthe power module, and has a powerful hub motor,
which makes the RANGER 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 smaller and more flexible. An open electrical interface and communication interface are
configured at the rear of the RANGER, 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tobe used in some harsh
environments. A standard aluminum extension bracket is installed on the RANGER, which is
convenient for users to carry external equipment.
2.1StatusoftheRANGER
The user can check the status of the RANGER through its CAN message. Please refer to Table 2.1 for
specific status.
Status Description

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Table 2.1 Status Description Table for the RANGER
2.2DescriptionofElectricalInterfaces
Figure 2.2 Back View of theRANGER
Voltage Current battery voltage and capacity information can be displayed via the
remote control displays vol and batt
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 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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The RANGER 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 before reaching
the critical voltage. Do not forget to charge the RANGER after use.
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 (itisimportanttonotethatwhenthe
RANGERisturnedoffinanX-shapedparkingmode,itneedstobeturnedontwicetostartthe
switchbutton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 move
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RANGERareparalleland
facingforward.After starting the RANGER mobile robot chassis normally, start the remote
controller, switch the SWB to remote control mode, and then control the movement of the
RANGER 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.
3.1Operation

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Check
Check the RANGER status
Check whether there is any obvious abnormality in the RANGER; if so, please contact after-sales
support;
When using it for the first time, check whether the power switch 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 is powered off.
Poweronandoff
The switch marked with "STOP" at the rear of the RANGER is an emergency stop switch. Pressing
it will stop the RANGER immediately andturning itclockwise will exit the emergency stop mode.
Charge
Check the battery voltage. The normal voltage range is 45-54V. If the battery voltage is too low,
please charge it in time. This product is equipped with a 20A charger by default. Insert the plug of
the charger into the 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:
RANGER itself 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
ImplementationofCANcommandcontrol
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Start the RANGER chassis normally. At this time, the RANGER chassis will receive instructions
from the CAN interface. At the same time, the host can also analyze the status of the current
chassis through the real-time data fed back by the CAN bus. For specific protocol content, refer to
the CAN communication protocol. (Note: The remote control has the first control right and has the
highest priority. By default, the remote control does not turn on the chassis when it is powered on,
and the chassis is in standby mode.)
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will 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
0x01 0x01 Emergency shut-down
mode
0x02 The system is abnormal

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Error message table
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
byte [7]
Lowest order
byte of error
message
Error message
Byte Bit Meaning

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byte [4]
bit [0] Right front steering servo warning (0:
unfaulty; 1: faulty)
bit [1] Right rear steering servo warning (0:
unfaulty; 1: faulty)
bit [2] Left rear steering servo warning (0: unfaulty;
1: faulty)
bit [3] Leftfront steering servo warning (0:
unfaulty; 1: faulty)
bit [4] Reserved, the default value is 0.
bit [5] Reserved, the default value is 0
bit [6] Reserved, the default value is 0
bit [7] Reserved, the default value is 0
byte [5]
bit [0] Right front steering zero pointcalibration
status (0: unfaulty; 1: faulty)
bit [1] Right rear steering zero pointcalibration
status (0: unfaulty; 1: faulty)
bit [2] Left rearsteering zero pointcalibration
status (0: unfaulty; 1: faulty)
bit [3] Left front steering zero pointcalibration
status (0: unfaulty; 1: faulty)
bit [4] Steering calibration timeout (0: unfaulty; 1:
faulty)
bit [5]
Safety edgecollision status, (0: normal; 1:
triggered, the chassisshould bestopped
immediately.)
bit [6] Reserved, the default value is 0