AgileX SCOUT MINI User manual

AgileX Robotics Team
2020.08
V.2.0.0
SCOUT
MINI
User Manual

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.

Safety Information
！
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.
1.Effectiveness and responsibility
5.Maintenance
4.Operation
2.Environmental Considerations
3.Pre-work Checklist
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 SCOUT MINI, because SCOUT MINI is not equipped with
any automatic obstacle avoidance sensor.
Use SCOUT MINI always under 0℃~40℃ ambient
temperature.
If SCOUT MINI 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 SCOUT MINI has had a defect, please contact the
relevant technical to deal with it, do not handle the defect by
yourself.
Always use SCOUT MINI in the environment with the
protection level requires for the equipment.
Do not push SCOUT MINI directly.
When charging, make sure the ambient temperature is above
0℃.
In remote control operation, make sure the area around is
relatively spacious.
Carry out remote control within the range of visibility.
The maximum load of SCOUT MINI is 20KG. When in use, ensure
that the payload does not exceed 20KG.
When installing an external extension on SCOUT MINI, confirm
the position of the center of mass of the extension and make sure
it is at the center of rotation.
Please charge in tine when the device is low battery alarm.
When SCOUT MINI has a defect, please immediately stop using it
to avoid secondary damage.
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.
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 MINI integrators and end customers have the responsibility to ensure compliance with the applicable laws and regulations of relevant
countries, and to ensure that there are no major dangers in the complete robot application. This includes but is not limited to the following:

CONTENTS
1. Introduction to SCOUT MINI
1.1 Product list
1.2 Performance parameters
1.3 Requirement for development
2. The Basics
2.1 Status indication
2.2 Instructions on electrical interfaces
2.3 Remote control instructions
2.4 Description of movement by remote
control and control by command
2.5 Instructions on lighting control
3. Getting Started
3.1 Use and operation
3.2 Charging
3.3 Development
3.3.1 CAN interface protocol
3.3.2 CAN cable connection
3.3.3 Implementation of CAN
command control
3.4 Firmware upgrade
4. Attention
4.1 Battery precautions
4.2 Application environment
precautions
4.3 Precautions for electrical
external extension
4.4 Safety precautions
4.5 Other notes
5. Q&A 25
6. Product Dimensions
6.1 Illustration diagram of product
external dimensions
1
1
1
1
2
2
2
3
4
4
5
5
5
5
12
12
12
13
14
14
14
14
14
14
15
16
16

1 Introduction to SCOUT MINI
SCOUT MINI intelligent mobile chassis, with 4WD, strong off-road performance and compact body shape, truly achieves
"dexterous and flexible". SCOUTMINI inherits the advantages of SCOUT four-wheel differential chassis family, i.e. four-wheel
drive, independent suspension, in-situ rotation and so on, and has made innovation in the design of hub motor. The
minimum turning radius of the chassis is 0 m, and the climbing angle is close to 30 degrees. SCOUT MINI is still capable of
excellent off-road performance although it is only half of SCOUT in size. In addition, it has a breakthrough high-speed,
accurate, stable and controllable dynamic control system up to 20 km/h. SCOUTMINI development platform with its own
control core, supports standard CAN bus communication, and can access to standard CAN bus communication, as well as all
kinds of external equipment. On such basis, it supports secondary development such as ROS and more advanced access and
the access of robot development system. Equipped with standard RC transmitter, 24V 15Ah lithium battery power system, its
endurance mileage is up to 10 km. Additional components such as stereo camera, laser radar, GPS, IMU, manipulator, etc. can
be optionally installed on SCOUT MINI for expanded applications. SCOUT MINI is frequently used for unattended inspection,
security, scientific research, prospecting, logistics, etc.
FS RC transmitter is provided optionally in the factory settings of SCOUT MINI and it allows users to control the mobile chassis
to move and turn; the CAN provided on SCOUT MINI can be used for secondary development via the CAN interface.
1.1 Product list
SCOUT MINI robot body
Battery charger (AC 220V)
Aviation male plug (4-Pin)
USB to CAN
RC transmitter
x1
x1
x1
x1
x1
USB to RS232 x1
Name Quantity
1.2 Performance parameters
1.3 Requirement for development
Mechanical specifications
Motion
Control parameter
L × W × H (mm)
Wheelbase (mm)
Front/rear wheel base (mm)
Weight of vehicle body (kg)
Battery type
Motor
Drive type
Suspension
Steering
Safety equipment
627x549x248
452
450
20
Lithium battery 24V 15AH
DC brushless 4 X 150W
Independent four-wheel drive
Independent suspension with rocker arm
Four-wheel differential steering
Servo brake/anti-collision tube
No-load highest speed (km/h)
Minimum turning radius
Maximum climbing capacity
Minimum ground clearance (mm)
10.8
Be able to turn on a pivot
30°
107
RC transmitter
Communication interface
2.4G/extreme distance 1km
CAN
Control mode Remote control
Command control mode
Parameter Types Items Values
1

2 The Basics
This Section will basically introduce the basic knowledge about SCOUT MINI mobile robot chassis to users and developers.
The overview of an entire mobile robot chassis is shown in Figure 2.1 and Figure 2.2 below.
Based on the concept of modular and intelligent design as a whole, SCOUT MINI combines filled solid tires with independent
suspension as its power module, which, along with powerful hub motor, enables the development platform of SCOUT MINI
robot chassis to flexibly move on different ground surfaces with high passing ability and ground adaptability. The hub motor
saves the complex transmission structure design and makes it possible for the model to become more compact.
Anti-collision fence is mounted in the front of the vehicle to protect the front and reduce possible damages to the vehicle body
during a collision. The front of the vehicle is equipped with white lights, which can be illuminated.
Electrical interfaces for DC power and communication interfaces are provided at the rear of the robot to facilitate secondary
development. The electrical interfaces adopt waterproof plug-in components, not only allowing flexible connection between
the robot and external components for customers but also allowing the use of the robot even under severe operating
conditions.
A standard aluminum extension support is installed at the top of the vehicle to facilitate the use of external equipment
extension.
Users can identify the status of vehicle body through the voltmeter, the power supply and lights mounted on SCOUT MINI.
In the SCOUT MINI tail minimalist design, all electrical interfaces are in the tail. The interfaces include voltage display
interactive module, extension interface, power switch and charging interface. The position of each module at the tail is as
shown in the figure.2.3.
Tail power switch: When the power switch is pressed, the ring indicator light will enter constant mode.
Power indication: the tail power display module showing the information of the power capacity and voltage of the current
battery.
Front light: Front width light, can be switched by RC transmitter and command.
2.1 Status indication
2.2 Instructions on electrical interfaces
1. Tire
2. Spring shock absorber
3. Extension support
4. Control interface area
5. Electrical bin panel
6. Tail light
7. Power capacity LCD
8. CAN extension interface
9. Power key
10. Charging interface
11. Font light
12. Front fence
2
Figure 2.1 Rear View
Figure 2.1 Front View

2.3 Remote control instructions
SCOUT MINI aviation extension interface is configured with both a set of power supplies and a set of CAN communication
interfaces. 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.
Voltmeter
Extension interface
Power switch
Charging interface
1 2
3 4
1
2
3
4
Power
CAN
Power
CAN
VCC
GND
CAN_H
CAN_L
Power positive, voltage range
23 - 29.2V, MAX. current 5A
Power negative
CAN bus high
CAN bus low
Pin No. Pin Type Function and
Definition Remarks
FS RC transmitter is an optional feature of SCOUT MINI for users to choose as actually required. With this RC transmitter
designed on the left throttle in this product, users can easily control SCOUT MINI universal robot chassis. Its definitions and
functions are shown in Figure 2.5 for reference.
The RC transmitter is preset the mapping of keys at factory. Do not arbitrarily change the key mapping, otherwise normal
control will be unavailable. The lever SWB switches control mode; the lever SWC is the manual control switch to control the
light off; the lever SWD controls speed mode; the left rocker controls forward and backward movement; the right rocker
controls the vehicle for left rotation and right rotation. It is worth noting that the mobile chassis on the internal control is
mapped by percentage, so the speed will be constant when the lever is in the same position.
12
5
7
8
6
9
10
11
3
4
1. Lever SWA
2. Lever SWB
3. Lever SWC
4. Lever SWD
5. Left rocker
6. Right rocker
7. Power switch key 1
8. Power switch key 2
9. Mobile/Tablet fixing support interface
10. Ring interface
11. LCD panel
*When the user gets the RC transmitter, the settings have been
available without having to be set separately.
Figure 2.5 Schematic Diagram of Buttons on FS Remote Controller
3
Figure 2.3 Schematic diagram of the rear electrical panel
Figure 2.4 Pin definition figure

2.4 Description of movement by remote control and control by command
2.5 Instructions on lighting control
A reference coordinate system shown in Figure 3.0 is established in accordance with ISO 8855 standard for moving vehicles on
ground.
As shown in Figure 3.0, the vehicle body of SCOUT MINI is in parallel with X axis of the established reference coordinate
system.In the controller mode with RC transmitter, pushing the left rocker of the RC transmitter forward and backward
respectively refers to the movement on the positive and negative directions of axis X; when the left rocker of the RC transmitter
is pushed to the maximum position, the speed of movement towards the position direction of axis X reaches the maximum;
when the left rocker of the RC transmitter is pushed to the minimum position, the speed of movement towards the negative
direction of axis X reaches the maximum; the right rocker of the RC transmitter controls the rotational movement of vehicle
body to left and right; pushing the right rocker of the RC transmitter to left and right respectively refers to the rotational
movement of vehicle body from the positive direction of axis X to the positive direction of axis Y and from the positive direction
of axis X to the negative direction of axis Y; when the right rocker of the RC transmitter is pushed to the maximum position on
the left, the rotational linear speed on anticlockwise direction reaches the maximum; when the right rocker of the RC
transmitter is pushed to the maximum position on the right, the rotational linear speed on clockwise direction reaches the
maximum.
In the control command mode, the positive value of linear speed refers to movement towards the positive direction of axis X,
and the negative value of linear speed refers to movement towards the negative direction of axis X; the positive value of
angular speed refers to the rotational movement of vehicle body from the positive direction of axis X to the positive direction
of axis Y, and the negative value of angular speed refers to the rotational movement of vehicle body from the positive direction
of axis X to the negative direction of axis Y.
Lights are mounted in front and at back of SCOUT MINI,
and the lighting control interface of SCOUT MINI is open
to the users for convenience. Meanwhile, another
lighting control interface is reserved on the RC
transmitter for energy saving.
There are 3 kinds of lighting modes controlled with RC
transmitter, which can be switched among each other
by SWC lever toggling:
Normally closed mode: In normally closed mode, if
the chassis is still, the light will be turned off; if the
chassis is in the traveling state at certain normal
speed, the light will be turned on;
Normally open mode: In normally open mode, if the
chassis is still, the light will be normally on; if in
motion mode, the light will be turned on;
Breathing light mode: The light is in breathing mode.
Note on mode control:
Toggling SWC lever respectively to bottom, middle
and top positions refers to normally closed mode,
normally open mode and breathing light mode.
Figure 3.0 Schematic Diagram of Reference Coordinate System for Vehicle Body
4
Left rocker
Front
Rear
Right rotation
Right rocker
Left rotation

3.1 Use and operation
3.3.1 CAN interface protocol
3.2 Charging
3.3 Development
3. Getting Started
This Section mainly introduces the basic operation and use of the SCOUT MINI platform and also introduces how to conduct secondary
development of the vehicle body via the external CAN ports and CAN bus protocol.
The basic operating procedure of startup is shown as follows:
SCOUT MINI is equipped with a 10 A charger by default to meet customers' charging demand.
The detailed operating procedure of charging is shown as follows:
Check
Startup
Basic operating procedure of remote control
Check the condition of the vehicle body. Check whether there are
significant anomalies; if so, please contact the after-sale service
personnel for support.
Make sure SCOUT MINI chassis is in power-off state.
Insert the charger plug into the charging interface on the rear of the
vehicle;
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 1.5 hours to be fully
recharged from 22 V, and the voltage of fully-recharged
battery is about 29.2 V; the recharging duration is calculated
as 15 AH ÷ 10A = 1.5h.
Shutdown
Press the SCOUT MINI power button to release.
Press the SCOUT MINI power button and wait for a few seconds;
Move SWB to the middle and choose the position to be
controlled;
You can try to manually switch the light mode and make sure
that the mode selection is correct;
Try to gently push the left rocker a little forward, then you can
see the vehicle moves forward slowly;
Try to gently push the left rocker a little backward, then you can
see the vehicle moves backward slowly;
SCOUT MINI provides CAN interface for user development. Users can select CAN command to conduct command control over the vehicle
body.
SCOUT MINI 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 MINI will feedback
the current motion status information, SCOUT MINI chassis status information, etc. 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.
After SCOUT MINI mobile chassis is started correctly, turn on the RC transmitter and select the remote-control mode. Then, the SCOUT MINI
platform motion can be controlled by the RC transmitter.
Release the left rocker, then the vehicle will stop;
Try to gently push the right rocker a little leftward, then you can
see the vehicle rotates leftward slowly;
Try to gently push the right rocker a little rightward, then you
can see the vehicle rotates rightward slowly;
Release the right rocker, then the vehicle will stop;
Try to control freely in the relatively open area, and get
familiarized with the vehicle moving speed.
5

Table 3.1 Feedback Frame of SCOUT MINI Chassis System Status
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 parity bit (count)
Parity bit (checksum)
unsigned int8
unsigned int8
Actual voltage X 10 (with an accuracy of 0.1V))
See notes for details
[Description of Failure Information]
0x00 Remote control mode
0x01 CAN command control mode [1]
0x02 Serial port control mode
0 - 255 counting loops, which will be added once
every command sent
Parity bit
System Status Feedback CommandCommand Name
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
Description of Failure Information
6

[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.
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 parity bit (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
Movement Control Feedback CommandCommand Name
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 3.4 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 parity bit (count)
Parity bit (checksum)
unsigned int8
signed int8
signed int8
—
—
unsigned int8
unsigned int8
See Note 2 for details*
Maximum speed 3 m/s, value range (-100, 100)
Maximum speed 2.5235rad/s, value range (-100, 100)
0x00
0 - 255 counting loops, which will be
added once every command sent
Parity bit
Control CommandCommand Name
7
0 - 255 counting loops, which will be added once
every command sent
Parity bit
0x00

Note 1 - Control mode instructions
In case the RC transmitter is powered off, the control mode of SCOUT MINI 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 0 x 01 for successfully executing the speed command. Once the RC transmitter is switched on again, it has the
highest authority to shield the command control and switch over the control mode.
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
Note 3 - Example data: The following data is only used for testing
1. The vehicle moves forward at 0.5m/s.
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
0 x 2000 x 201
0
x 202 0 x 203
Figure 3.0 Schematic Diagram of Motor Feedback IDs
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 four motors in the chassis are as shown in the figure below:
3. When the vehicle stays still, switch the control mode to command mode (test without the RC switched on)
8
2. The vehicle rotates at 0.05235rad/s.

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 drive temperature
No. 1 motor temperature
Count parity bit (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)
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
No. 1 Motor Drive Information Feedback Frame
Command Name
Table 3.6 No. 2 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. 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 drive temperature
No. 2 motor temperature
Count parity bit (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)
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
No. 2 Motor Drive Information Feedback Frame
Command Name
9

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 drive temperature
No. 3 motor temperature
Count parity bit (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)
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
No. 3Motor Drive Information Feedback Frame
Command Name
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 drive temperature
No. 4 motor temperature
Count parity bit (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)
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
No. 3Motor Drive Information Feedback Frame
Command Name
10

Receiving node
Steer-by-wire chassis
0x08
Function
Lighting control
enable flag
Front light mode
Custom brightness of
front light
Reserved
Cycle (ms) Receive-timeout (ms)
25ms 无
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]
ID
0x140
Data type
unsigned int8
unsigned int8
unsigned int8
--
Reserved
Reserved
Count parity bit (count)
Parity bit (checksum)
--
--
unsigned int8
unsigned int8
0x00
0x00
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]
灯光控制帧
byte [4]
byte [5]
byte [6]
byte [7]
Note [5]: This value is valid in 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
Reserved
ID
0x141
Data type
unsigned int8
unsigned int8
unsigned int8
--
Reserved
Reserved
Count parity bit (count)
Parity bit (checksum)
--
--
unsigned int8
unsigned int8
0x00
0x00
0 - 255 counting loops, which will be
added once every command sent
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)
20ms 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
0x00
11

The data check bit is the last valid byte in the data segment of
each frame of CAN message. Its check sum 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:
/**
* @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;
}
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.
3.3.2 CAN cable connection
3.3.3 Implementation of CAN command control
Two aviation male plugs are supplied along with SCOUT MINI as shown in
Figure 3.2. Users need to lead wires out by welding on their own. For wire
definitions, please refer to Table 2.2
Note: In the current SCOUT MINI version, only the top interface is open to
external extension. The maximum current that can be provided in this
version is 5A..
Correctly start the chassis of SCOUT MINI mobile robot, and turn on DJI RC
transmitter. Then, switch to the command control mode, i.e. toggling SWB
of DJI RC transmitter to the top. At this point, SCOUT MINI chassis will
accept the command from CAN interface, and the host can also parse the
current state of the chassis with the real-time data fed back from CAN bus.
For the detailed content of protocol, please refer to CAN communication
protocol.
Figure 3.2 Schematic Diagram of Aviation Male Plug
12
Figure 3.1 CAN Message Check Algorithm
RED :VCC(Positive pole)
BLACK :GND（negative pole）
BLUE :CAN_L
YELLOW :CAN_H

To facilitate the customer's upgrading of the firmware version
used by SCOUT MINI and bring the customer a better
experience, SCOUT MINI provides a hardware interface for the
firmware upgrading, and the corresponding client software as
well. A screenshot of this application is shown in Figure 3.3.
3.4 Firmware upgrade
Serial cable X 1
USB-to-serial port X 1
SCOUT chassis X 1
Computer (Windows operating system) X 1
Before connection, ensure the robot chassis is powered off;
Connect the serial cable onto the serial port atinternal
SCOUT MINI chassis;
打开客户端软件；
选择端口号；
SCOUT MINI底盘上电，立即点击开始连接（SCOUT
MINI底盘会在上电前6等待，如果时间超过6S则会
进行进入应用程序）；若连接成功，会在文本框提示“
连接成功”；
加载Bin文件；
点击升级，等待升级完成的提示即可；
断开串口线，底盘断电，再次通电即可。
Upgrade preparation:
Connect the serial cable to the computer;
Open the client software;
Select the port number;
Power on SCOUT MINI chassis, and immediately click to
start connection (SCOUT MINI chassis will wait for 6 s
before power-on; if the waiting time is more than 6 s, it will
enter the application); if the connection succeeds,
"connected successfully" will be prompted in the text box;
Load Bin file;
Click the Upgrade button, and wait for the prompt of
upgrade completion;
Disconnect the serial cable, power off the chassis, and then
turn the power off and on again.
Upgrade procedure:
Figure 3.3 Client Interface of Firmware Upgrade
13

4 Attention
The battery supplied with SCOUT MINI is not always fully charged
in the factory setting, but its specific power capacity can be
displayed on the voltmeter at tail end of SCOUT MINI chassis or
read via CAN bus communication interface. Once the green
indicator light of charger is switched on, it means the battery
recharging is completed, but after this indicator light is on, the
battery will still be charged slowly with 0.1A current for possibility
about 30 minutes;
Please do not charge the battery after its power has been depleted,
and please charge the battery in time when low battery level alarm
on SCOUT MINI is on;
Static storage conditions: The best temperature for battery storage
is -20℃ to 60℃; in case of storage for no use, the battery must be
recharged and discharged once about every 2 months, and then
stored in full voltage state. Please do not put the battery in fire or
heat up the battery, and please do not store the battery in
high-temperature environment;
Charging: The battery must be charged with a dedicated lithium
battery charger; please do not charge the battery below 0℃ and do
no use non-originally standard batteries, power supplies and
chargers.
For the extended power supply, the current should not exceed 5 A
and the total power should not exceed 120 W;
When the system detects that the battery voltage is lower than the
safe voltage class, external power supply extensions will be actively
switched to. Therefore, users are suggested to notice if external
extensions involve the storage of important data and have no
power-off protection.
In case of any doubts during use, please follow related instruction manual or consult related technical personnel;
Before use, pay attention to field condition, and avoid mis-operation that will cause personnel
Without technical support and permission, please do not personally modify the internal equipment structure.
SCOUT MINI has plastic parts in front and rear, please do not
directly hit those parts with excessive force to avoid possible
damages;
When handling and setting up, please do not fall off or place the
vehicle upside down;
For non-professionals, please do not disassemble the vehicle
without permission.
The operating temperature of SCOUT MINI outdoors is -10℃ to 45
℃; please do not use it below -10℃ and above 45℃ outdoors;
The operating temperature of SCOUT MINI indoors is 0℃ to 42℃;
please do not use it below 0℃ and above 42℃ indoors;
The requirements for relative humidity in the use environment of
SCOUT MINI are: maximum 80%, minimum 30%;
Please do not use it in the environment with corrosive and
flammable gases or closed to combustible substances;
Do not place it near heaters or heating elements such as large
coiled resistors, etc.;
Except for specially customized version (IP protection class
customized), SCOUT MINI is not water-proof, thus please do not use
it in rainy, snowy or water-accumulated environment;
The elevation of recommended use environment should not
exceed 1,000m;
The temperature difference between day and night of recommend-
ed use environment should not exceed 25℃;
This Section includes some precautions that should be paid attention to for SCOUT MINI use and development.
4.1 Battery precautions 4.2 Application environment precautions
Safety precautions
Other notes
Precautions for electrical external extension
14

5 Q&A
Q: SCOUT MINI is started up correctly, but why cannot the RC transmitter control the vehicle body to move?
A: First, check whether the drive power supply is in normal condition, whether the drive power switch is pressed down and whether E-stop
switches are released; then, check whether the control mode selected with the top left mode selection switch on the RC transmitter is
correct.
Q: SCOUT MINI RC transmitter is in normal condition, and the information about chassis status and movement is all fed back
correctly, but when the control frame protocol is issued, why cannot the vehicle body control mode be switched and the chassis
respond to the control frame protocol?
A: Normally, if SCOUT MINI can be controlled by a RC transmitter, it means the chassis movement is under proper control; if the chassis
feedback frame can be accepted, it means CAN extension link is in normal condition. Please check the CAN control frame sent to see
whether the data check is correct and whether the control mode is command control mode. You can check the status of error flag from the
error bit in the chassis status feedback frame.
Q: SCOUT MINI gives "beep-beep-beep..." sound when running, how to deal with this problem?
A: If SCOUT MINI give this "beep-beep-beep" sound continuously, it means the battery is in the alarm voltage state. Please charge the
battery in time. Once other related sound occurs, there may be internal errors. You can check related error codes via the CAN bus or
communicate with related technical personnel.
Q: Is the tire wear of SCOUT MINI is normally seen when it is running?
A: The tire wear of SCOUT MINI is normally seen when it is running. As SCOUT MINI is based on the four-wheel differential steering design,
sliding friction and rolling friction both occur when the vehicle body rotates. If the floor is not smooth but rough, tire surfaces will be worn
out. In order to reduce or slow down the wear, small-angle turning can be conducted for less turning on a pivot.
Q: When communication is implemented via CAN bus, the chassis feedback command is issued correctly, but why does not the
vehicle respond to the control command?
A: There is a communication protection mechanism inside SCOUT MINI, which means the chassis is provided with timeout protection when
processing external CAN control commands. Suppose the vehicle receives one frame of communication protocol, but it does no receive the
next frame of control command after 500 ms. In this case, it will enter communication protection mode and set the speed to 0. Therefore,
commands from upper computer must be issued periodically.
15

6 Product Dimensions
16
627
6.1 Illustration diagram of product external dimensions