AgileX SCOUT 2.0 User manual

AgileX Robotics Team
SCOUT 2.0
User Manual 2021.03
V.2.1.0

This chapter contains important safety information, before the robot is powered on for the first time, any
individual or organization must read and understand this information before using the device. If you have
any questions about use, please contact us at [email protected]. Please follow 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.

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.
Safety Information
1.Effectiveness and responsibility
5.Maintenance
4.Operation
2.Environmental Considerations
3.Pre-work Checklist
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.
SCOUT 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:
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
SCOUT2.0, because SCOUT2.0 is not equipped with any
automatic obstacle avoidance sensor.
Use SCOUT2.0 always under -10℃~45℃ ambient temperature.
If SCOUT 2.0 is not configured with separate custom IP
protection, its water and dust protection will be IP22 ONLY.
Make sure each device has sufficient power.
Make sure Bunker does not have any obvious defects.
Check if the remote controller battery has sufficient power.
When using, make sure the emergency stop switch has been
released.
！
When SCOUT2.0 has had a defect, please contact the relevant
technical to deal with it, do not handle the defect by yourself.
Always use SCOUT2.0 in the environment with the protection
level requires for the equipment.
Do not push SCOUT2.0 directly.
When charging, make sure the ambient temperature is above 0
℃.
If the vehicle shakes during its rotation, adjust the suspension.
In remote control operation, make sure the area around is
relatively spacious.
Carry out remote control within the range of visibility.
The maximum load of SCOUT2.0 is 50KG. When in use, ensure
that the payload does not exceed 50KG.
When installing an external extension on SCOUT2.0, confirm the
position of the center of mass of the extension and make sure it is
at the center of rotation.
Please charge in tine when the device is low battery alarm.
When SCOUT2..0 has a defect, please immediately stop using it to
avoid secondary damage.
Regularly check the pressure of the tire, and keep the tire pressure between 1.8bar~2.0bar.
If the tire is severely worn or burst, please replace it in time.
If the battery do not use for a long time, it need to charge the battery periodically in 2 to 3 months.

CONTENTS
1 SCOUT 2.0 Introduction
1.1Component list
1.2Tech specifications
1.3 Requirement for development
2 The Basics
2.1 Status indication
2.2 Instructions on electrical interfaces
2.2.1 Top electrical interface
2.2.2 Rear electrical interface
2.3 Instructions on remote control
2.4 Instructions on control demands
and movements
2.5 Instruction on light control
3 Getting Started
3.1 Use and operation
3.2 Charging
3.2.1Charging operation
3.2.2Battery replacement
3.3 Communication using CAN
3.3.1 CAN cable connection
3.3.2 Implementation of CAN
command control
3.3.3 CAN message protocol
1
1
1
1
2
3
3
3
4
5
5
5
6
6
6
6
6
6
7
7
7
3.4 Serial communication protocol
3.4.1 Instruction of serial protocol
3.4.2 Serial connection
3.4.3 Serial protocol content
3.5 Firmware upgrades
3.6 SCOUT 2.0 SDK
3.7 SCOUT 2.0 ROS Package
4 Attention
4.1 Battery
4.2 Operational environment
4.3 Electrical/extension cords
4.4 Additional safety advices
4.5 Other notes
5 Q&A
6 Product Dimensions
6.1 Illustration diagram of product
external dimensions
6.2 Illustration diagram of top
extended support dimensions
15
15
15
15
24
24
25
26
26
26
26
26
26
27
28
28
29

1.1 Component list
1.2 Tech specifications
1.3Requirement for development
Mechanical
specifications
Motion
Control
L × W × H (mm)
Wheelbase (mm)
Front/rear wheel base (mm)
Weight of vehicle body (kg)
Battery type
Motor
Reduction gearbox
Drive type
Suspension
Steering
Safety equipment
9930 X 699 X 349
498
582 / 582
68(±0.5)
Lithium battery 24V 30AH
DC brushless 4 X 400W
1:30
Independent four-wheel drive
Independent suspension with single rocker arm
Four-wheel differential steering
Servo brake/anti-collision tube
No-load highest speed (m/s)
Minimum turning radius
Maximum climbing capacity
Minimum ground clearance (mm)
1.5
Be able to turn on a pivot
30°
135
RC transmitter
Communication interface
2.4G/extreme distance 1km
CAN / RS232
Control mode Remote control
Control command mode
SCOUT 2.0 is designed as a multi-purpose UGV with different application scenarios considered: modular design; flexible
connectivity; powerful motor system capable of high payload. Additional components such as stereo camera, laser radar,
GPS, IMU and robotic manipulator can be optionally installed on SCOUT 2.0 for advanced navigation and computer vision
applications. SCOUT 2.0 is frequently used for autonomous driving education and research, indoor and outdoor security
patrolling, environment sensing, general logistics and transportation, to name a few only.
FS RC transmitter is provided (optional) in the factory setting pf SCOUT 2.0, which allows users to control the chassis of robot
to move and turn; CAN and RS232 interfaces on SCOUT 2.0 can be used for user’s customization.
Name Quantity
Parameter Types Items Values

1 Introduction
SCOUT 2.0 Robot body
Battery charger (AC 220V)
Aviation plug (male, 4-pin)
USB to RS232 cable
Remote control transmitter (optional)
USB to CAN communication module
X 1
X 1
X 2
X 1
X 1
X1

This section provides a brief introduction to the SCOUT 2.0 mobile robot platform, as shown in Figure 2.1 and Figure 2.2.
Figure 2.2 Rear View
Figure 2.1 Front View
1.Front View
2.Stop Switch
3.Standard Profile Support
4.Top Compartment
7.Rear Panel
6.Retardant-collision Tube
5.Top Electrical Panel
2 The Basics

1
3
5
4
6
7
6
2

Emergency stop buttons are installed on both sides of the
robot to ensure easy access and pressing either one can shut
down power of the robot immediately when the robot
behaves abnormally. Water-proof connectors for DC power
and communication interfaces are provided both on top and
at the rear of the robot, which not only allow flexible
connection between the robot and external components but
also ensures necessary protection to the internal of the robot
even under severe operating conditions.
A bayonet open compartment is reserved on the top for
users.
SCOUT2.0 adopts a modular and intelligent design concept.
The composite design of inflate rubber tyre and independent
suspension on the power module, coupled with the powerful
DC brushless servo motor, makes the SCOUT2.0 robot chassis
development platform has strong pass ability and ground
adapt ability, and can move flexibly on different ground.An-
ti-collision beams are mounted around the vehicle to reduce
possible damages to the vehicle body during a collision. Lights
are both mounted at front and at back of the vehicle, of which
the white light is designed for illumination in front whereas the
red light is designed at rear end for warning and indication.
Voltage
Replace battery
Robot powered on
The current battery voltage can be read from the voltmeter on the rear
electrical interface and with an accuracy of 1V.
Front and rear lights are switched on.
Table 2.1 Descriptions of Vehicle Status
When the battery voltage is lower than 22.5V, the vehicle body will give a beep-beep-beep
sound as a warning. When the battery voltage is detected as lower than 22V, 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.
Status Description
Users can identify the status of vehicle body through the voltmeter, the beeper and lights mounted on SCOUT 2.0. For details, please refer
to Table 2.1.
2.1 Status indication
SCOUT 2.0 has an aviation extension interface both on top and at rear end, each of which is configured with a set of power supply and a
set of CAN communication interface. These interfaces can be used to supply power to extended devices and establish communication.
The specific definitions of pins are shown in Figure 2.4.
Figure 2.3 Schematic Diagram of SCOUT 2.0 Electrical Interface on Top
SCOUT 2.0 provides three 4-pin aviation connectors and one DB9 (RS232) connector.
The position of the top aviation connector is shown in Figure 2.3.
2.2 Instructions on electrical interfaces
2.2.1 Top electrical interface

aviation connector
DB9 (RS232) connector

Figure 2.4 Definitions for Pins of Top Aviation Extension Interface
1
2
3
4
Power
CAN
Power
CAN
VCC
GND
CAN_H
CAN_L
Power positive, voltage range
23 - 29.2V, MAX.current 10A
Power negative
CAN bus high
CAN bus low
Pin No. Pin Type Function and
Definition Remarks
1
2
3
4
Power
CAN
Power
CAN
VCC
GND
CAN_H
CAN_L
Power positive, voltage range
23 - 29.2V, maximum current 5A
Power negative
CAN bus high
CAN bus low
Pin No. Pin Type Function and
Definition Remarks
2.2.2 Rear electrical interface
Specific definitions for pins of Q4 are shown in Figure 2.5.
Figure 2.5 Illustration Diagram of Q4 Pins
Pin No.
2
3
5
Definition
RS232-RX
RS232-TX
GND
The extension interface at rear end is shown in Figure 2.6, where Q1 is the key switch as the main electrical switch; Q2 is the recharging
interface; Q3 is the power supply switch of drive system; Q4 is DB9 serial port; Q5 is the extension interface for CAN and 24V power supply;
Q6 is the display of battery voltage.
Figure 2.6 Rear View
Figure 2.7 Description of Front and Rear Aviation Interface Pins

1 2
3 4
Rearview
2
1
4
3
1
6789
2345
Q4 Q5 Q6
Q1 Q2 Q3
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 pre-specified threshold voltage. Therefore, users need to notice that SCOUT 2.0 platform will
send a low voltage alarm before the threshold voltage is reached and also pay attention to battery recharging during use.

As shown in Figure 2.9, the vehicle body of SCOUT 2.0 is in parallel with X axis of the established reference coordinate system. In the remote
control mode, push the remote control stick S1 forward to move in the positive X direction, push S1 backward to move in the negative X
direction. When S1 is pushed to the maximum value, the movement speed in the positive X direction is the maximum, When pushed S1 to the
minimum, the movement speed in the negative direction of the X direction is the maximum; the remote control stick S2 controls the steering
of the front wheels of the car body, push S2 to the left, and the vehicle turns to the left, pushing it to the maximum, and the steering angle is the
largest, S2 Push to the right, the car will turn to the right, and push it to the maximum, at this time the right steering angle is the largest. In the
control command mode, the positive value of the linear velocity means movement in the positive direction of the X axis, and the negative value
of the linear velocity means movement in the negative direction of the X axis; The positive value of the angular velocity means the car 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 the
car body moves from the positive direction of the X axis to the negative direction of the Y axis.
Lights are mounted in front and at back of SCOUT 2.0, and the lighting control interface of SCOUT 2.0 is open to the users for convenience.
Meanwhile, another lighting control interface is reserved on the RC transmitter for energy saving.
Currently the lighting control is only supported with the FS transmitter, and support for other transmitters is still under development. There are
3 kinds of lighting modes controlled with RC transmitter, which can be switched through the SWC. Mode control description: the SWC lever is at
the bottom of the normally closed mode, the middle is for the normally open mode, the top is breathing light mode.
NC MODE: IN NC MODE, IF THE CHASSIS IS STILL, THE FRONT LIGHT WILL BE TURNED OFF, AND THE REAR LIGHT WILL ENTER BL MODE TO
INDICATE ITS CURRENT OPERATING STATUS; IF THE CHASSIS IS IN THE TRAVELING STATE AT CERTAIN NORMAL SPEED, THE REAR LIGHT
WILL BE TURNED OFF BUT THE FRONT LIGHT WILL BE TURNED ON;
NO MODE: IN NO MODE, IF THE CHASSIS IS STILL, THE FRONT LIGHT WILL BE NORMALLY ON, AND THE REAR LIGHT WILL ENTER THE BL
MODE TO INDICATE THE STILL STATUS; IF IN MOVEMENT MODE, THE REAR LIGHT IS TURNED OFF BUT THE FRONT LIGHT IS TURNED ON;
BL MODE: FRONT AND REAR LIGHTS ARE BOTH IN BREATHING MODE UNDER ALL CIRCUMSTANCES.
NOTE ON MODE CONTROL:TOGGLING SWC LEVER RESPECTIVELY REFERS TO NC MODE, NO MODE AND BL MODE IN BOTTOM, MIDDLE AND
TOP POSITIONS.
FS RC transmitter is an optional accessory of SCOUT2.0 for manually controlling
the robot. The transmitter comes with a left-hand-throttle configuration. The
definition and function shown in Figure 2.8. The function of the button is
defined as: SWA and SWD are temporarily disabled, and SWB is the control
mode select button, dial to the top is command control mode, dial to the middle
is remote control mode; SWC is light control button; S1 is throttle button, control
SCOUT2.0 forward and backward; S2 control is control the rotation, and POWER
is the power button, press and hold at the same time to turn on.
2.3 Instructions on remote control
FS_i6_S remote control instructions
2.4 Instructions on control demands and movements
2.5 Instructions on lighting control
Figure 2.8 Schematic Diagram of
Buttons on FS RC transmitter
A reference coordinate system can be defined and fixed on the vehicle body as shown in Figure 2.9 in accordance with ISO 8855.
Figure 2.9 Schematic Diagram of Reference Coordinate System for Vehicle Body

SWC
SWD
S2
SWB
SWA
S1
POWER
POWER
Z
Y
X

This section introduces the basic operation and development of the SCOUT 2.0 platform using the CAN bus interface.
3 Getting Started
Basic operating procedure of remote control:
3.2.1 Charging operation
3.3 Communication using CAN
3.1 Use and operation
Check the condition of SCOUT 2.0. Check whether there are
significant anomalies; if so, please contact the after-sale service
personal for support;
Check the state of emergency-stop switches. Make sure both
emergency stop buttons are released;
Make sure the electricity of SCOUT 2.0 chassis is powered off. Before
charging, please make sure the power switch in the rear control
condole is turned off;
Insert the charger plug into Q6 charging interface on the rear control
panel;
Connect the charger to power supply and turn on the switch in the
charger. Then, the robot enters the charging state.
Note: For now, the battery needs about 3 to 5 hours to be fully
recharged from 22V, and the voltage of a fully recharged
battery is about 29.2V; the recharging duration is calculated
as 30AH ÷ 10A = 3h.
Rotate the key switch to cut off the power supply; Press down emergency push button both on the left and the right of
SCOUT 2.0 vehicle body;
Rotate the key switch (Q1 on the electrical panel), and normally,
the voltmeter will display correct battery voltage and front and rear
lights will be both switched on;
Check the battery voltage. If there is no continuous
"beep-beep-beep..." sound from beeper, it means the battery
voltage is correct; if the battery power level is low, please charge
the battery;
Press Q3 (drive power switch button).
Check Startup
Shutdown Emergency stop
After the chassis of SCOUT 2.0 mobile robot is started correctly, turn on the RC transmitter and select the remote-control mode. Then, SCOUT 2.0
platform movement can be controlled by the RC transmitter.
SCOUT 2.0 IS EQUIPPED WITH A 10A CHARGER BY DEFAULT TO MEET CUSTOMERS' RECHARGING DEMAND.
SCOUT 2.0 provides CAN and RS232 interfaces for user customization. Users can select one of these interfaces to conduct command control over
the vehicle body.
3.2 Charging
3.2.2 Battery replacement

The basic operating procedure of startup is shown as follows:
SCOUT2.0 adopts a detachable battery solution for the convenience of
users. In some special cases, the battery can be replaced directly. The
operation steps and diagrams are as follows (before operation, ensure
that SCOUT2.0 is power-off):
Open the upper panel of SCOUT2.0, and unplug the two XT60 power
connectors on the main control board (the two connectors are
equivalent) and the battery CAN connector;
Hang SCOUT2.0 in midair, unscrew eight screws from the bottom with a
national hex wrench, and then drag the battery out;
Replace the battery and fixed the bottom screws.
Plug the XT60 interface and the power CAN interface into the main
control board, confirm that all the connecting lines are correct, and then
power on to test.
Figure 3.1 Schematic Diagram of replace battery

SCOUT2.0 deliver with two aviation male plugs as shown in Figure 3.2. For
wire definitions, please refer to Table 2.2.
Correctly start the chassis of SCOUT 2.0 mobile robot, and turn on DJI RC
transmitter. Then, switch to the command control mode, i.e. toggling S1 mode of
DJI RC transmitter to the top. At this point, SCOUT 2.0 chassis will accept the
command from CAN interface, and the host can also parse the current state of
chassis with the real-time data fed back from CAN bus. For the detailed content of
protocol, please refer to CAN communication protocol.
Correctly start the chassis of SCOUT 2.0 mobile robot, and turn on DJI RC transmitter. Then, switch to the command control mode, i.e.
toggling S1 mode of DJI RC transmitter to the top. At this point, SCOUT 2.0 chassis will accept the command from CAN interface, and the host
can also parse the current state of chassis with the real-time data fed back from CAN bus. For the detailed content of protocol, please refer to
CAN communication protocol.
3.3 Communication using CAN
SCOUT 2.0 provides CAN and RS232 interfaces for user customization. Users can select one of these interfaces to conduct command control
over the vehicle body.
3.3.1 CAN cable connection
3.3.2 Implementation of CAN command control
3.3.3 CAN message protocol
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
Receiving node
Decision-making control
unit
0x08
Function
Current status of vehicle
body
Mode control
ID
0x151
Data type
unsigned int8
unsigned int8
Cycle (ms) Receive-timeout (ms)
20ms None
Description
0x00 System in normal condition
0x01 Emergency stop mode (not enabled)
0x02 System exception
byte [2]
byte [3]
byte [4]
byte [5]
Battery voltage higher 8 bits
Battery voltage lower 8 bits
Reserved
Failure information
unsigned int16 Actual voltage × 10 (with an accuracy of 0.1V)
Refer to Table 3.2 [Description of Failure Information]
0-255 counting loops, which will be added once every
command sent
0×00
0×00
unsigned int8
-
byte [6]
byte [7]
Reserved
Count paritybit (count)
-
unsigned int8
0×00 Standby mode
0×01 CAN command control mode
0×02 Serial port control mode
0×03 Remote control mode
Table 3.1 Feedback Frame of SCOUT 2.0 Chassis System Status
System Status Feedback CommandCommand Name

Figure 3.2 Schematic diagram of aviation plug male connector
Red:VCC(battery positive)
Black:GND(battery negative)
Blue:CAN_L
Yellow:CAN_H


The command of movement control feedback frame includes the feedback of current linear speed and angular speed of
moving vehicle body. For the detailed content of protocol, please refer to Table 3.3.
The control frame includes control openness of linear speed and control openness of angular speed. For its detailed
content of protocol, please refer to Table 3.4.
Note[1]: Robot chassis firmware version V1.2.8 is supported by subsequent versions, and the previous version requires
firmware upgrade to support
Note[2]: The buzzer will sound when the battery under-voltage, but the chassis control will not be affected, and the power
output will be cut off after the under-voltage fault
Table 3.2 Description of Failure Information
Battery undervoltage fault (0: No failure 1: Failure) Protection voltage is 22V
(The battery version with BMS, the protection power is 10%)
Battery undervoltage fault[2] (0: No failure 1: Failure) Alarm voltage is 24V
(The battery version with BMS, the warning power is 15%)
RC transmitter disconnection protection (0: Normal 1: RC transmitter disconnected)
No.1 motor communication failure (0: No failure 1: Failure)
No.2 motor communication failure (0: No failure 1: Failure)
No.3 motor communication failure (0: No failure 1: Failure)
No.4 motor communication failure (0: No failure 1: Failure)
Reserved, default 0
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
byte [4]
Byte
bit Meaning
Description of Failure Information
Table 3.3 Movement Control Feedback Frame
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0×08
Function
Moving speed higher 8 bits
Moving speed lower 8 bits
Rotation speed higher 8 bits
Rotation speed lower 8 bits
Reserved
Reserved
Reserved
Reserved
ID
0x221
Data type
signed int16
signed int16
-
-
-
-
Cycle (ms) Receive-timeout (ms)
20ms None
Description
Actual speed × 1000 (with an accuracy of 0.001rad)
Actual speed × 1000 (with an accuracy of 0.001rad)
0x00
0x00
0x00
0x00
Movement Control Feedback CommandCommand Name


The mode setting frame is used to set the control interface of the terminal. For its detailed content of protocol, please refer to Table 3.5.
Status setting frame is use to clear the system errors. For its detailed content of protocol, please refer to Table 3.6.
Description of control mode: In case the SCOUT 2.0 is powered on and the RC transmitter is not connected, the control mode is
defaulted to standby mode. At this time, the chassis only receives control mode command, and does not respond other commands. To
use CAN for control need to switch CAN command mode at first. If the RC transmitter is turned on, the RC transmitter has the highest
authority, can shield the control of command and switch the control mode.
Table 3.4 Control Frame of movement Control Command
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×08
Function
Linear speed higher 8 bits
ID
0x111
Data type
signed int16
byte [1]
byte [2]
Linear speed lower 8 bits
Angular speed higher 8 bits
Angular speed lower 8 bits
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Reserved
Reserved
Reserved
Reserved
signed int16
—
—
—
—
0x00
0x00
0x00
0x00
Control CommandCommand Name
Table 3.5 Control mode setting frame
Table 3.6 Status Setting Frame
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×01
Function
Control mode
ID
0×421
Date type
unsigned int8
Control Mode Setting CommandCommand Name
Sending node
Decision-making control unit
Date length
Position
byte [0]
Receiving node
Chassis node
0×01
Function
Errors clearing command
ID
0×441
Date type
unsigned int8
Status Setting CommandCommand Name
Cycle (ms)
20ms
Receive-timeout (ms)
500ms
Cycle (ms)
None
Receive-timeout (ms)
None
Cycle (ms)
None
Receive-timeout (ms)
None
Description
Vehicle moving speed, unit mm/s (effective value+ -1500)
Vehicle rotation angular speed, unit mm/s (effective value+ -1500)
Description
0×00 Standby mode
0×01 CAN command mode enable
Description
0×00 Clear all failure
0×01 Clear Motor 1 failure
0×02 Clear Motor 2 failure
0×03 Clear Motor 3 failure
0×04 Clear Motor 4 failure


Description
The chassis status information will be feedback, and what’s more, the information about motor current, encoder and temperature are
also included. The following feedback frame contains the information about motor current, encoder and motor temperature.
The motor numbers of the 4 motors in the chassis are shown in the figure below:
Table 3.7 Motor Speed Current Position Information Feedback
Figure 3.0 Schematic diagram Motor feedback ID
[Note 3] Example data: The following data is only used for testing
1.The vehicle moves forward at 0.15m/s
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x00 0x00 0xc8 0x00 0x00 0x00 0x00
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x96 0x00 0x00 0x00 0x00 0x00 0x00
Rear electrical panel
1
2
4
3
2.The vehicle steering 0.2rad/s
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0×08
Function
Motor speed higher 8 bits
Motor speed lower 8 bits
Motor current higher 8 bits
Motor current lower 8 bits
Position highest bits
Position second-highest bits
Position second-lowest bits
Position lowest bits
ID
0x251~0x254
Data type
signed int16
signed int16
signed int32 Current position of the motor Unit: pulse
Motor Drive High Speed Information Feedback Frame
Command Name
Cycle (ms)
20ms
Receive-timeout (ms)
None
Vehicle moving speed, unit mm/s (effective value+ -1500)
Motor current Unit 0.1A


Table 3.8 Motor temperature, voltage and status information feedback
Table 3.9 Drive Status
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0×08
Function
Drive voltage higher 8 bits
Drive voltage lower 8 bits
Drive temperature higher 8 bits
Drive temperature lower 8 bits
Motor temperature
Drive status
Reserved
Reserved
ID
0x261~0x264
Data type
unsigned int16
signed int16
Cycle (ms) Receive-timeout (ms)
20ms None
Description
Current voltage of drive unit 0.1V
Unit 1°C
Unit 1°C
See the details in [Drive control status]
0x00
0x00
signed int8
unsigned int8
-
-
Motor Drive Low Speed Information Feedback Frame
Command Name
Byte Bit Description
byte[5]
bit[0]
bit[1]
bit[2]
bit[3]
bit[4]
bit[5]
bit[6]
bit[7]
Whether the power supply voltage is too low (0:Normal 1:Too low)
Whether the motor is overheated (0:Normal 1:Overheated)
Whether the drive is over current (0:Normal 1:Over current)
Whether the drive is overheated (0:Normal 1:Overheated)
Sensor status (0:Normal 1:Abnormal)
Drive error status (0:Normal 1:Error)
Drive enable status (0:Normal 1:Disability)
Reserved
The front and external lights also support command control. The following table shows the control commands:


Table 3.10 Light Control Frame
Table 3.11 Light Control Feedback Frame
Sending node
Decision-making control unit
Date length
Position
byte [0]
byte [1]
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
Receiving node
Decision-making control unit
0×08
Function
Current lighting control enable flag
Current front light mode
Receiving node
Chassis node
0×08
Function
Light control enable flag
Front light mode
Custom brightness of front light
Rear light mode
Customize brightness for rear light
Reserved
Reserved
Parity bit (checksum)
ID
0x121
Date type
unsigned int8
unsigned int8
ID
0x231
Date type
unsigned int8
unsigned int8
Description
0x00 Control command invalid
0x01 Lighting control enable
unsigned int8
unsigned int8
[0, 100], where 0 refers to no brightness
100refers to maximum brightness[5]
[0, 100], where 0 refers to no brightness
100refers to maximum brightness[5]
0x00 NC
0x01 NO
0x02BL mode
0x03 User-defined brightness
0x00 NC
0x01 NO
0x02 BL mode
0x03 User-defined brightness
0 - 255 counting loops, which will be
added once every command sent
0 - 255 counting loops, which will be
added once every command sent
Light Control Frame
Steering Zero Setting CommandCommand Name
Command Name
unsigned int8
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
unsigned int8
unsigned int8
unsigned int8
unsigned int8 [0, 100], where 0 refers to no brightness
100refers to maximum brightness
[0, 100], where 0 refers to no brightness
100refers to maximum brightness
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Current custom brightness
of front light
Current custom brightness of rear light
Reserved
Reserved
Parity bit (checksum)
Current rear light mode
_
_
unsigned int8
_
_
0x00
0x00
0x00
0x00
Note [5]: The values are valid for custom mode.
0x00 NC
0x01 NO
0x02BL mode
0x03 User-defined brightness
0x00 NC
0x01 NO
0x02BL mode
0x03 User-defined brightness
Receive-timeout (ms)
None
Cycle (ms)
20ms
Description
0x00 Control command invalid
0x01 Lighting control enable
Receive-timeout (ms)
None
Cycle (ms)
20ms


Table 3.12 System Version Information Enquiry Frame
Table 3.14 Mileometer Information Feedback
Sending node
Decision-making control unit
Date length
Position
byte [0]
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Chassis node
0×01
Function
Enquire system version
Receiving node
Decision-making control unit
0×08
Function
Sending node
Steer-by-wire chassis
Date length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0×08
Function
Left wheel mileometer highest bit
Left wheel mileometer second-highest bit
Left wheel mileometer second-highest bit
Left wheel mileometer lowest bit
Right wheel mileometer highest bit
Right wheel mileometer second-highest bit
Right wheel mileometer second-highest bit
Right wheel mileometer lowest bit
ID
0x411
Date type
unsigned int8
ID
0x41A
Data type
unsigned int16
unsigned int16
unsigned int16
unsigned int16
ID
0x311
Data type
signed int32
signed int32
Description
Chassis left wheel mileometer feedback
Unit:mm
Chassis right wheel mileometer feedback
Unit:mm
System Version Information Enquiry Command
Command Name
System Version Information Feedback Frame
Mileometer Information Feedback
Command Name
Cycle (ms)
None
Cycle (ms)
500ms
Description
Constant 0×01
Description
Higher 8 bits is the main version number,
lower 8 bits is the second version number
Higher 8 bits is the main version number,
lower 8 bits is the second version number
Higher 8 bits is the main version number,
lower 8 bits is the second version number
Higher 8 bits is the main version number,
lower 8 bits is the second version number
Receive-timeout (ms)
None
Receive-timeout (ms)
None
Cycle (ms)
20ms
Receive-timeout (ms)
None
Table 3.13 System Version Information Enquiry Frame
Command Name
The number of main control
hardware version higher 8 bits
The number of main control
hardware version lower 8 bits
The number of drive hardware
version higher 8 bits
The number of drive hardware
version lower 8 bits
The number of main control
software version higher 8 bits
The number of main control
software version lower 8 bits
The number of drive software
version higher 8
The number of drive software
version lower 8


Table 3.15 Remote Control Information Feedback
Sending node
Steer-by-wire chassis
Date length
Byte
byte[0]
byte[1]
byte[2]
byte[3]
byte[4]
byte[5]
byte[6]
byte[7]
Receiving node
Decision-making control unit
0×08
Function
SW feedback
Right joystick left and right
Right joystick up and down
Left joystick up and down
Left joystick left and right
Left knob VRA
Reserved
Count Parity bit
ID
0x241
Data type
unsigned int8
signed int8
signed int8
signed int8
signed int8
signed int8
--
unsigned int8
Description
bit[0-1]: SWA:2- Up 3-Down
bit[2-3]: SWB : 2-Up 1-Middle 3-Down
bit[4-5]: SWC : 2-Up 1-Middle 3-Down
bit[6-7]: SWD：2-Up 3-Down
Range[-100,100]
Range[-100,100]
Range[-100,100]
Range[-100,100]
Range[-100,100]
0x00
0~255 Loops counting
Description
Range 0~100
Range 0~100
Unit: 0.01V
Range[-100,100]
Unit: 0.1A
Range[-100,100]
Unit: 0.1°C
Remote Control Information Feedback Frame
Command Name
Sending node
Steer-by-wire chassis
Date length
Position
byte[0]
byte[1]
byte[2]
byte[3]
byte[4]
byte[5]
byte[6]
byte[7]
Receiving node
Decision-making control unit
0×08
Function
Battery SOC
Battery SOH
Battery voltage higher 8 bits
Battery voltage lower 8 bits
Battery current higher 8 bits
Battery current lower 8 bits
Battery temperature higher 8 bits
Battery temperature lower 8 bits
ID
0x361
Data type
unsigned int8
unsigned int8
unsigned int16
signed int8
signed int16
signed int8
signed int16
BMS Data Feedback
Command Name
Cycle (ms)
20ms
Receive-timeout(ms)
None
Cycle (ms)
500ms
Receive-timeout(ms)
None

SOF frame_L CMD_TYPE CMD_ID data ... data[n] frame_id check_sum
byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 ... byte 6+n byte 7+n byte 8+n
5A A5
Start bit Frame length Command type Command ID Data field Frame ID
15
Checksum
composition
/**
3.4 Serial Communication Protocol
3.4.1 Instruction of serial protocol
It is a standard for serial communication jointly formulated by the Electronic Industries Association (EIA) of the United States in 1970
conjunction with Bell Systems, modem manufacturers and computer terminal manufacturers. Its name is "Technical Standard for Serial
Binary Data Exchange Interface Between Data Terminal Equipment (DTE) and Data Communication Equipment (DCE)". The standard
stipulates that a 25-pin DB-25 connector is used for each connector. The signal content of each pin is specified, and the levels of various
signals are also specified. Later, IBM's PC simplified RS232 into a DB-9 connector, which became the practical standard. The RS-232 port
of industrial control generally only uses three lines of RXD, TXD, and GND.
The protocol includes the start bit, frame length, frame command type, command ID, data range, frame ID, and checksum. The frame
length refers to the length excluding the start bit and the checksum. The checksum is the sum of all data from the start bit to the frame
ID; the frame ID bit is from 0 to 255 counting loops, which will be added once every command sent.
3.4.3 Serial Protocol Content
Basic Communication Parameter
Instruction of protocol
Item
Baud Rate
Parity
Data bit length
Stop bit
Parameter
115200
No test
8 bits
1 bit
* @brief serial message checksum example code
* @param[in] *data : serial message data struct pointer
* @param[in] len :serial message data length
* @return the checksum result
*/
static uint8 Agilex_SerialMsgChecksum(uint8 *data, uint8 len)
{
uint8 checksum = 0x00;
for(uint8 i = 0 ; i < (len-1); i++)
{
checksum += data[i];
}
return checksum;
}
3.4.2 Serial Connection
Use the USB to RS232 serial cable in our communication tool to connect to the serial port at the rear of the car, use the serial tool to set
the corresponding baud rate, and use the sample data provided above to test. If the remote control is turned on, it is necessary to switch
the remote control to command control mode. If the remote control is not turned on, just send the control command directly. It should
be noted that the command must be sent periodically. If the chassis exceeds 500MS and the serial port command is not received, it will
enter the loss of connection protection. status.
Figure 3.3 Serial Parity algorithm code example

16
Data type
unsigned int8
unsigned int8
unsigned int16
—
unsigned int8
—
—
Description
0×00 System in normal condition
0×01 Emergency stop mode (not enabled)
0×02 System exception
0×00 Standby mode
0×01 CAN command control mode
0×02 Serial control mode[1]
0×03 Remote control mode
Actual voltage × 10 (with an accuracy of 0.1V)
0×00
Refer to [Description of Failure Information]
0×00
0×00
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Battery voltage higher 8 bits
Battery voltage lower 8 bits
Reserved
Failure information
Reserved
Reserved
Receiving node
Decision-making control unit
0×0C
Feedback command(0×AA)
0×01
8
Function
Current status of vehicle body
Mode control
Command Name
Sending node
Steer-by-wire chassis
Frame length
Command type
Command ID
Data length
Position
byte [0]
byte [1]
System Status Feedback Frame
Byte Bit Meaning
byte[5]
bit[0]
bit[1]
bit[2]
bit[3]
bit[4]
bit[5]
bit[6]
bit[7]
Battery under-voltage failure (0: No failure 1: Failure) Protection voltage is 22V
(Battery with BMS version, protection power is 10%
Battery under-voltage alarm (0: No alarm 1: Alarm) Alarm voltage is 24V
(Battery with BMS version, alarm power is 15%
Remote control loss contact protection (0: Normal 1: Remote control loss contact)
Motor 1 communication failure (0: No failure 1: Failure)
Motor 2 communication failure (0: No failure 1: Failure)
Motor 3 communication failure (0: No failure 1: Failure)
Motor 4 communication failure (0: No failure 1: Failure)
Reserved, default 0
Protocol Content
Description of Failure Information
Note[1]: Robot chassis firmware version V1.2.8 is supported by subsequent versions, and the previous version requires firmware
upgrade to support.
Cycle (ms)
100ms
Receive-timeout (ms)
None