AgileX SCOUT 2.0 User manual

AgileX Robotics Team
SCOUT 2.0
User Manual 2020.08
V.2.0.0

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 -20℃~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.

1. Introduction
1.1 Component list
1.2 Tech specifications
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
FS_i6_S remote control instructions
2.4 Instructions on control demands and
movements
2.5 Instructions on lighting control
3. Getting Started
3.1 Use and operation
3.2 Charging
3.3 Communication using CAN
3.3.1 CAN message protocol
3.3.2 CAN cable connection
3.3.3 Implementation of CAN command
control
3.4 Communication using RS232
3.4.1 Introduction to serial protocol
3.4.2 Serial message protocol
3.4.3 Serial connection
3.5 Firmware upgrades
3.6 Use example of SCOUT 2.0 SDK
3.7 Use example of SCOUT 2.0 ROS
Package
4. Precautions
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
1
1
1
2
3
3
3
4
5
5
5
6
6
6
6
6
13
13
13
13
13
20
CONTENTS
20
20
21
22
22
22
22
22
22
22
23
24
24
25

1.1 Component list
1.2 Tech specifications
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 348
498
582 / 582
62
Lithium battery 24V 30AH
DC brushless 4 X 200W
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.
DJI RC transmitter is provided (optional) in the factory setting of 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.
SCOUT 2.0 is eguibed with CAN and RS232 interfaces,users can secondary development thrangh CAN and RS232 interfaces.
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.Figure 2.1 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

航空外部扩展接口
DB9（RS232）通信控制接口

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 RC control mode, push the remote control stick S1 forward to move in the positive X direction, push stick 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 S1 is
pushed to the minimum value, the movement speed is the maximum in the negative direction of the X direction.The remote control stick S2
controls the rotation of the car body left and right. The remote control joystick S2 controls the rotation of the car body left and right. When S2
pushes the car body to the left, it rotates from the positive direction of the X axis to the positive direction of the Y axis. When S2 pushes the car
body to the right, it rotates from the positive direction of the X axis to the negative direction of the Y axis. S2 When pushing to the left to the
maximum value, the counterclockwise rotation speed is the maximum. When S2 is pushed to the right to the maximum value, the clockwise
rotation speed is the maximum.
Following this convention, a positive linear velocity corresponds to the forward movement of the vehicle along positive x-axis direction and a
positive angular velocity corresponds to positive right-hand rotation about the z-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 among each other by SWC toggling:
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:
The detailed operating procedure of charging is shown as follows:
3.1 Use and operation
Check the condition of vehicle body. Check whether there are
significant anomalies; if so, please contact the after-sale service
personnel for support;
Check the state of emergency stop switches. Make sure both
emergency stop buttons are released;
Take off the cover of rear panel and you will see it;
For first-time use, check whether Q3 (drive power supply switch)
on the rear panel has been pressed down; if so, please release it,
and then the drive will be powered off.
Make sure the electricity of SCOUT 2.0 chassis is powered off. Before
charging, please make sure Q1 (key switch) in the rear control console
is turned off;
Insert the charger plug into Q2 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.
SCOUT 2.0 adopts CAN2.0B communication standard which has a communication baud rate of 500K and Motorola message format. Via external
CAN bus interface, the moving linear speed and the rotational angular speed of chassis can be controlled; SCOUT 2.0 will feedback on the current
movement status information and its chassis status information in real time.
The protocol includes system status feedback frame, movement control feedback frame and control frame, the contents of which are shown as
follows:
The system status feedback command includes the feedback information about current status of vehicle body, control mode status, battery
voltage and system failure. The description is given in Table 3.1.
3.2 Charging
3.3 Communication using CAN
3.3.1 CAN message protocol

The basic operating procedure of startup is shown as follows:

Table 3.2 Description of Failure Information
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
Check error of CAN communication control command (0: No failure 1: Failure)
Motor drive over-temperature alarm[1] (0: No alarm 1: Alarm) Temperature limited to 55℃
Motor over-current alarm[1] (0: No alarm 1: Alarm) Current effective value 15A
Battery under-voltage alarm (0: No alarm 1: Alarm) Alarm voltage 22.5V
RC transmitter disconnection protection (0: Normal 1: RC transmitter disconnected)
Reserved, default 0
Reserved, default 0
Reserved, default 0
Battery under-voltage failure (0: No failure 1: Failure) Protective voltage 22V
Battery over-voltage failure (0: No failure 1: Failure)
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)
Motor drive over-temperature protection[2]
(0: No protection 1: Protection) Temperature limited to 65℃
Motor over-current protection[2] (0: No protection 1: Protection) Current effective value 20A
byte [4]
byte [5]
Byte Bit Meaning
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
Failure information higher 8
bits
Failure information lower 8
bits
unsigned int16
unsigned int16
byte [6]
byte [7]
Count paritybit(count)
Parity bit(checksum)
unsigned int8
unsigned int8
Actual voltage X 10 (with an accuracy of 0.1V)
See notes for detail[Description of Failure
Information]
0x00 Remote control mode
0x01 CAN command control mode
0x02 Serial port control mode
0 - 255 counting loops, which will be added once
every command sent
Parity bit
Table 3.1 Feedback Frame of SCOUT 2.0 Chassis System Status
System Status Feedback CommandCommand Name
Description of Failure Information


[1]: The subsequent versions of robot chassis firmware version after V1.2.8
are supported, but previous versions need to be updated before
supported.
[2] The over-temperature alarm of motor drive and the motor over-current
alarm will not be internally processed but just set in order to provide for
the upper computer to complete certain pre-processing. If drive
over-current occurs, it is suggested to reduce the vehicle speed; if
over-temperature occurs, it is suggested to reduce the speed first and wait
the temperature to decrease. This flag bit will be restored to normal
condition as the temperature decreases, and the over-current alarm will
be actively cleared once the current value is restored to normal condition;
[3]: The over-temperature protection of motor drive and the motor
over-current protection will be internally processed. When the
temperature of motor drive is higher than the protective
temperature, the drive output will be limited, the vehicle will slowly
stop, and the control value of movement control command will
become invalid. This flag bit will not be actively cleared, which
needs the upper computer to send the command of clearing failure
protection. Once the command is cleared, the movement control
command can only be executed normally.
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 mode control, failure clearing command, control openness of linear speed, control openness of
angular speed and checksum. For its detailed content of protocol, please refer to Table 3.4.
Table 3.3 Movement Control Feedback Frame
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0x08
Function
Moving speed higher 8 bits
Moving speed lower 8 bits
Rotational speed higher 8 bits
Rotational speed lower 8 bits
Reserved
Reserved
Count paritybit (count)
Parity bit (checksum)
ID
0x131
Data type
signed int16
signed int16
-
-
unsigned int8
unsigned int8
Cycle (ms) Receive-timeout (ms)
20ms None
Description
Actual speed X 1000 (with an accuracy of 0.001m/s)
Actual speed X 1000 (with an accuracy of 0.001rad/s)
0x00
0x00
0 - 255 counting loops, which will be added once every command sent
Parity bit
Movement Control Feedback CommandCommand Name
Table 3.4 Control Frame of Movement Control Command
Cycle (ms) Receive-timeout (ms)
20ms 500ms
Description
0x00 Remote control mode
0x01 CAN command control mode[1]
0x02 Serial port control mode
Sending node
Decision-making
control unit
Data length
Position
byte [0]
Receiving node
Chassis node
0x08
Function
Control mode
ID
0x130
Data type
unsigned int8
byte [1]
byte [2]
Failure clearing command
Linear speed percentage
Angular speed percentage
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Reserved
Reserved
Count paritybit (count)
Parity bit (checksum)
unsigned int8
signed int8
signed int8
—
—
unsigned int8
unsigned int8
See Note 2 for details*
Maximum speed 1.5m/s, value range (-100, 100)
Maximum speed 0.5235rad/s, value range (-100, 100)
0x00
0x00
0 - 255 counting loops, which will be added once every command sent
Parity bit
Control CommandCommand Name


Note 1 - Control mode instructions
In case the RC transmitter is powered off, the control mode of SCOUT 2.0 is defaulted to command control mode, which means the chassis
can be directly controlled via command. However, even though the chassis is in command control mode, the control mode in the
command needs to be set to 0x01 for successfully executing the speed command. Once the RC transmitter is switched on again, it has the
highest authority level to shield the command control and switch over the control mode.
The chassis status information will be fed back; 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 serial numbers of 4 motors in the chassis are shown in the figure below:
Note 3 - Example data: The following data is only used for testing
1. The vehicle moves forward at 0.15m/s.
0x00 No failure clearing command
0x01 Clear battery under-voltage failure
0x02 Clear battery over-voltage failure
0x03 Clear No.1 motor communication failure
0x04 Clear No.2 motor communication failure
0x05 Clear No.3 motor communication failure
0x06 Clear No.4 motor communication failure
0x07 Clear motor drive over-temperature failure
Note 2 - Information about failure clearing command:
0x08 Clear motor over-current failure
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x3a
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x01 0x00 0x00 0x0a 0x00 0x00 0x00 0x44
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x01 0x00 0x0a 0x00 0x00 0x00 0x00 0x44
Figure 3.0 Schematic Diagram of Motor Feedback IDs

2. The vehicle rotates at 0.05235rad/s.
3. When the vehicle stays still, switch the control mode to command mode (test without RC transmitter switched on)

Table 3.5 No.1 Motor Information Feedback
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0x08
Function
No.1 drive current higher 8 bits
No.1 drive current lower 8 bits
No.1 drive rotational speed higher 8 bits
No.1 drive rotational speed lower 8 bits
No.1 hard disk drive (HDD) temperature
No.1 motor temperature
Count parity (count)
Parity bit (checksum)
ID
0x200
Data type
unsigned int16
signed int16
signed int8
signed int8
unsigned int8
unsigned int8
Cycle (ms) Receive-timeout (ms)
20ms None
Description
Actual current X 10(with an accuracy of 0.1A)
Actual motor shaft velocity (RPM)
Table 3.6 No.2 Motor Information Feedback
No.1 Motor Drive Information Feedback Frame
Command Name

Actual temperature (with an accuracy of 1℃)
Actual temperature (with an accuracy of 1℃)
0 - 255 counting loops, which will be added once every command sent
Parity bit
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0x08
Function
No.2 drive current higher 8 bits
No.2 drive current lower 8 bits
No.2 drive rotational speed higher 8 bits
No.2 drive rotational speed lower 8 bits
No.2 hard disk drive (HDD) temperature
No.2 motor temperature
Count parity (count)
Parity bit (checksum)
ID
0x201
Data type
unsigned int16
signed int16
signed int8
signed int8
unsigned int8
unsigned int8
Cycle (ms) Receive-timeout (ms)
20ms None
Description
Actual current X 10(with an accuracy of 0.1A)
Actual motor shaft velocity (RPM)
No.2 Motor Drive Information Feedback Frame
Command Name
Actual temperature (with an accuracy of 1℃)
Actual temperature (with an accuracy of 1℃)
0 - 255 counting loops, which will be added once every command sent
Parity bit


Table 3.7 No.3 Motor Information Feedback
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0x08
Function
No.3 drive current higher 8 bits
No.3 drive current lower 8 bits
No.3 drive rotational speed higher 8 bits
No.3 drive rotational speed lower 8 bits
No.3 hard disk drive (HDD) temperature
No.3 motor temperature
Count parity (count)
Parity bit (checksum)
ID
0x202
Data type
unsigned int16
signed int16
signed int8
signed int8
unsigned int8
unsigned int8
Cycle (ms) Receive-timeout (ms)
20ms None
Description
Actual current X 10(with an accuracy of 0.1A)
Actual motor shaft velocity (RPM)
No.2 Motor Drive Information Feedback Frame
Command Name
Actual temperature (with an accuracy of 1℃)
Actual temperature (with an accuracy of 1℃)
0 - 255 counting loops, which will be added once every command sent
Parity bit
Table 3.8 No.4 Motor Information Feedback
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Decision-making control unit
0x08
Function
No.4 drive current higher 8 bits
No.4 drive current lower 8 bits
No.4 drive rotational speed higher 8 bits
No.4 drive rotational speed lower 8 bits
No.4 hard disk drive (HDD) temperature
No.4 motor temperature
Count parity (count)
Parity bit (checksum)
ID
0x203
Data type
unsigned int16
signed int16
signed int8
signed int8
unsigned int8
unsigned int8
Cycle (ms) Receive-timeout (ms)
20ms None
Description
Actual current X 10(with an accuracy of 0.1A)
Actual motor shaft velocity (RPM)
No.2 Motor Drive Information Feedback Frame
Command Name
Actual temperature (with an accuracy of 1℃)
Actual temperature (with an accuracy of 1℃)
0 - 255 counting loops, which will be added once every command sent
Parity bit

Receiving node
Steer-by-wire chassis
0x08
Function
Lighting control enable flag
Front light mode
Custom brightness of front light
Rear light mode
Cycle (ms) Receive-timeout (ms)
25ms None
Description
0x00 Control command invalid
0x01 Lighting control enable
0x00 NC
0x01 NO
0x02 BL mode
0x03 User-defined brightness
[0, 100], where 0 refers to no brightness, 100
refers to maximum brightness[5]
0x00 NC
0x01 NO
0x02BL mode
0x03 User-defined brightness
ID
0x140
Data type
unsigned int8
unsigned int8
unsigned int8
unsigned int8
Customize brightness for rear light
Reserved
Count parity bit (count)
Parity bit (checksum)
unsigned int8
--
unsigned int8
unsigned int8
[0, 100], where 0 refers to no brightness, 100 refers to
maximum brightness
0x00
0 - 255 counting loops, which will be added once every
command sent
Parity bit
Table 3.9 Lighting Control Frame
Command Name
Sending node
Decision-making
control unit
Data length
Position
byte [0]
byte [1]
byte [2]
byte [3]
Lighting Control Frame
byte [4]
byte [5]
byte [6]
byte [7]
Note [5]: The values are valid for custom mode.
Receiving node
Decision-making control unit
0x08
Function
Current lighting control
enable flag
Current front light mode
Current custom brightness of
front light
Current rear light mode
ID
0x141
Data type
unsigned int8
unsigned int8
unsigned int8
unsigned int8
Current custom brightness of
rear light
Reserved
Count parity bit (count)
Parity bit (checksum)
unsigned int8
--
unsigned int8
unsigned int8
[0, 100], where 0 refers to no brightness, 100 refers to
maximum brightness
0x00
[0, 100], where 0 refers to no brightness, 100 refers to
maximum brightness
Parity bit
Table 3.10 Lighting Control Feedback Frame
Command Name
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
byte [2]
byte [3]
Lighting Control Feedback Frame
byte [4]
byte [5]
byte [6]
byte [7]
Cycle (ms) Receive-timeout (ms)
25ms None
Description
0x00Control command invalid
0x01Lighting control enable
0x00 NC
0x01 NO
0x02 BL mode
0x03 User-defined brightness
[0, 100], where 0 refers to no brightness, 100
refers to maximum brightness
0x00 NC
0x01 NO
0x02 BL mode
0x03 User-defined brightness


The data Parity bit is the last valid byte in the data
segment of each frame of CAN message. Its checksum is
calculated as follows: checksum =(ID_H + ID_L +
data_length+ can_msg.data[0] + can_msg.data[1] +
can_msg.data[2] + can_msg.data[3] +can_msg.data[4]+
�+ can_msg.data[n]) & 0xFF：
ID_H and ID_L are respectively higher 8 bits and lower 8 bits
of a frame ID.For example, if ID is 0x540, the corresponding
ID_H is 0x05 and ID_L is 0x40;
Data_length refers to the valid data length of a data segment
in one frame of CAN message, which includes the checksum
byte;
can_msg.data[n] is the specific content of each byte in the
valid data segment; the count parity bit needs to participate
in the calculation of checksum, but the checksum itself does
not participate in the calculation.
*@brief CAN message checksum example code
* @param[in] id : can id
* @param[in] *data : can message data struct pointer
* @param[in] len : can message data length
* @return the checksum result
*/
static uint8 Agilex_CANMsgChecksum(uint16 id, uint8 *data, uint8 len)
{
uint8 checksum = 0x00;
checksum = (uint8)(id & 0x00ff) + (uint8)(id >> 8) + len;
for(uint8 i = 0 ; i < (len-1); i++)
{
checksum += data[i];
}
return checksum;
}
/**
Figure 3.1 CAN Message Check Algorithm
3.3.2 CAN cable connection
3.3.3 Implementation of CAN
command control
3.4 Communication using RS232
3.4.1 Introduction to serial protocol
Figure 3.2 Schematic Diagram of Aviation Male Plug
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.
2 aviation male plugs are supplied along with SCOUT 2.0 as shown in
Figure 3.2. For wire definitions, please refer to Table 2.2.
This is a serial communication standard which was formulated collectively
by Electronic Industries Association (EIA) together with Bell System, modem
manufacturers and computer terminal manufacturers in 1970. Its full name
is called "the technical standard for serial binary data exchange interface
between data terminal equipment (DTE) and data communication
equipment (DCE). This standard requires to use a 25-pin DB-25 connector of
which each pin is specified with corresponding signal content and various
signal levels. Afterwards, RS232 is simplified as DB-9 connector in IBM PCs,
which has become a de facto standard since then. Generally, RS-232 ports
for industrial control only use 3 kinds of cables - RXD, TXD and GND.
3.4.2 Serial message protocol
Basic parameters of communication
Item
Baud rate
Check
Data bit length
Stop bit
Parameter
115200
No check
8 bits
1 bit

RED :VCC(positive pole)
BLACK :GND(negative pole)
BLUE :CAN_L
YELLOW :CAN_H

/**
The protocol includes start bit, frame length, frame command type, command ID, data field, frame ID, and checksum composition.
Where, the frame length refers to the length excluding start bit and checksum composition; the checksum refers to the sum from start bit
to all data of frame ID; the frame ID is a loop count between 0 to 255, which will be added once every command sent.
Protocol specification

* @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;
}
SOF frame_L CMD_TYPE CMD_ID data [0] ... 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
Data type
unsigned int8
unsigned int8
unsigned int16
unsigned int16
Actual voltage X 10
(with an accuracy of 0.1V)
See notes for details 【**】
Description
0x00 System in normal condition
0x01 Emergency stop mode (not enabled)
0x01 System exception
0x00 Remote control mode
0x01 CAN command control mode[1]
0x02 Serial port control mode
byte [2]
byte [3]
byte [4]
byte [5]
Battery voltage higher 8 bits
Battery voltage lower 8 bits
Failure information higher 8 bits
Failure information lower 8 bits
System status feedback command
Cycle (ms) Receive-timeout (ms)
20ms
Receiving node
Decision-making control unit
0x0a
Feedback command (0xAA)
0x01
6
Function
Current status of vehicle body
Mode control
Command Name
Sending node
Steer-by-wire chassis
Frame length
Command type
Command ID
Data field length
Position
byte [0]
byte [1]
System status feedback command
Checksum
composition
None

bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
Check error of CAN communication control command (0: No failure 1: Failure)
Motor drive over-temperature alarm[1] (0: No alarm 1: Alarm) Temperature limited to 55℃
Motor over-current alarm[1] (0: No alarm 1: Alarm) Current effective value 15A
Battery under-voltage alarm (0: No alarm 1: Alarm) Alarm voltage 22.5V
Reserved, default 0
Reserved, default 0
Reserved, default 0
Reserved, default 0
Battery under-voltage failure (0: No failure 1: Failure) Protective voltage 22V
Battery over-voltage failure (0: No failure 1: Failure)
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)
Motor drive over-temperature protection[2] (0: No protection 1: Protection) Temperature limited to 65℃
Motor over-current protection[2] (0: No protection 1: Protection) Current effective value 20A
byte [4]
byte [5]
Byte
Bit 含义
Description of Failure Information
[1]: The subsequent versions of robot chassis firmware version after V1.2.8 are supported, but previous versions need to
be updated before supported.
[2]: The over-temperature alarm of motor drive and the motor over-current alarm will not be internally processed but just
set in order to provide for the upper computer to complete certain pre-processing. If drive over-current occurs, it is
suggested to reduce the vehicle speed; if over-temperature occurs, it is suggested to reduce the speed first and wait the
temperature to decrease. This flag bit will be restored to normal condition as the temperature decreases, and the
over-current alarm will be actively cleared once the current value is restored to normal condition;
[3]: The over-temperature protection of motor drive and the motor over-current protection will be internally processed.
When the temperature of motor drive is higher than the protective temperature, the drive output will be limited, the
vehicle will slowly stop, and the control value of movement control command will become invalid. This flag bit will not be
actively cleared, which needs the upper computer to send the command of clearing failure protection. Once the
command is cleared, the movement control command can only be executed normally.
Movement control feedback command
Receiving node
Decision-making control unit
0x0A
Feedback command (0xAA)
0x02
6
Function
Moving speed higher 8 bits
Moving speed lower 8 bits
Rotational speed higher 8 bits
Rotational speed lower 8 bits
Reserved
Reserved
Cycle (ms) Receive-timeout (ms)
20ms None
Data type
signed int16
signed int16
-
-
Description
Actual speed X 1000 (with an accuracy of
0.001m/s)
Actual speed X 1000 (with an accuracy of
0.001rad/s)
0x00
0x00
Command Name
Sending node
Steer-by-wire chassis
Frame length
Command type
Command ID
Data field length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
Movement Control Feedback Command
15

Movement control command
Receiving node
Chassis node
0x0A
Control command (0x55)
0x01
6
Function
Cycle (ms)
20ms
Control mode
Failure clearing command
Linear speed percentage
Angular speed percentage
Reserved
Reserved
unsigned int8
unsigned int8
signed int8
signed int8
-
-
Data type
0x00 Remote control mode
0x01 CAN command control mode[1]
0x02 Serial port control mode
See Note 2 for details*
Maximum speed 1.5m/s, value range (-100, 100)
Maximum speed 0.5235rad/s, value range (-100, 100)
0x00
0x00
Command Name
Sending node
Decision-making control unit
Frame length
Command type
Command ID
Data field length
Position
Control Command
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
No.1 motor drive information feedback frame
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
Function
No.1 drive current higher 8 bits
No.1 drive current lower 8 bits
No.1 drive rotational speed higher 8 bits
No.1 drive rotational speed lower 8 bits
No.1 hard disk drive (HDD) temperature
Reserved
Description
Actual current X 10 (with an accuracy of 0.1A)
Actual motor shaft velocity (RPM)
Actual temperature (with an accuracy of 1℃)
0x00
Data type
unsigned
int16
signed int16
signed int8
-
Receiving node
Decision-making control unit
0x0A
Feedback command (0xAA)
0x03
6
Cycle (ms)
20ms
Command Name
Sending node
Steer-by-wire chassis
Frame length
Command type
Command ID
Data field length
Position
No.1 Motor Drive Information Feedback Frame
16
None
Receive-timeout (ms)
None
Receive-timeout (ms)
Description