AgileX TRACER MINI User manual

TRACER MINI
AgileX Robotics Team
User Manual V1.0.0 2022.05.18

This chapter contains important safety information that must be read and understood by any individual
or organization before using the equipment when the robot is powered on for the first time. You can
contact us at [e-mail] if you have any questions about usage. It is very important that all
assembly instructions and guidelines in other chapters of this manual are followed and implemented.
Particular attention should be paid to text associated with warning signs.

Safety Information
The information in this manual does not include the design, installation and operation of a complete robotic
application, nor does it include any peripherals that may affect the safety of this complete system. The design and
use of this complete system requires compliance with the safety requirements established in the standards and
specifications of the country where the robot is installed.
It is the responsibility of TRACER MINI's integrators and end customers to ensure compliance with relevant
specifications and effective laws and regulations, so as to ensure that there are no major hazards in the complete
robot application example. This includes but is not limited to the following:
1. Validity and Responsibility 2. Environment
 Make a risk assessment of the complete robot
system.
 Link together the additional safety equipment
for other machinery as defined by the risk
assessment.。
 Confirm that the design and installation of the
peripherals of the complete
robot system,
including software and hardware systems, are
accurate.

This robot does not have relevant safety
functions of a complete autonomous mobile
robot, including but not limited to automatic
anti-collision, anti-falling
, biological
approach warning, etc. These functions
require integrators and end customers to
conduct safety assessments in accordance
with relevant rspecifications and effective
laws and regulations, so as to ensure that the
developed robot does not have any major
dangers and safety hazards in practical
applications.

Gather all documents in the technical file:
including the risk assessment and this
manual.
 When using it for the first time, please read this
manual vehicle
efully to understand the basic
operation contents and operation specifications.
 For remote operation, choose a relatively open
area for use, and the vehicle
itself does not
have any automatic obstacle avoidance sensors.
 Use in an ambient temperature of -10℃~45℃.
 If the IP protection level of the vehicle is not
customized separately, the waterp
roof and
dustproof capability of the vehicle is IP22.
3. Inspection

Make sure that each device has sufficient
power.

Make sure there is no obvious abnormality in
the vehicle.

Check that the remote control's batteries are
fully charged
4. Operation

Ensure that the surrounding area is relatively
empty during operation.
 Remote control within sight distance.
 The maximum load of TRACER MINI is 80KG.
When in use, make sure the payload does not
exceed 80KG.
 When installing an external exten
sion on
TRACER MINI, confirm the centroid position of
the extension and make sure it is at the center of
rotation.
 Please charge in time when the device voltage is
lower than 25V.

When the equipment is abnormal, please stop
using it immediately to avoid secondary injury.

When the equipment is abnormal, please contact
the relevant technical personnel, and do not handle
it without authorization.
 Please use the equipment
in an environment that
meets the protection class requirements according
to its IP protection class.
 Do not push the vehicle directly.

When charging, make sure the ambient
temperature is greater than 0°C.
5. Maintenance

In order to ensure the storage capacity of the battery, the battery should be stored with electricity, and it
should be charged regularly when not in use for a long time.

Table of contents
1 Introduction of TRACER MIN 13.3.3 Realization of CAN command control 12
1.1 Product list 1 3.4 Firmware upgrade 13
1.2 Performance parameters 1 3.5 TRACER MINI ROS Package usage example 13
1.3 Required for development 1
2 The Basics 24 Attention 18
2.1 Status indication 3 4.1 Battery precautions 19
2.2 Electrical interface descriptio 3 4.2 Precautions for operational environment 20
2.2.1 Description of rear electrical interface 34.3 Precautions for electrical external expansion 20
20
2.3 Remote control instructions 44.4 Other precautions 20
2.4 Control command and motion description 5
5 Q&A 20
3 Getting Started 6
3.1 Use and operation 6 6 Other precautions 21
3.2 Charging 6 6.1 Illustrations of product outline dimensions 21
3.3 Development 6
3.3.1 CAN interface protocol 6
3.3.2 CAN line connection 12

1 Introduction of TRACER MINI n
TRACER MINI is an all-round industrial UGV (UNMANNED GROUND VEHICLE). As a multi-functional
modular mobile robot development platform for industrial applications with a modular and intelligent design
concept, it has a wide range of applications with strong load capacity and strong power system. The combination
of the two-wheel difference and hub motor makes it possible to move flexibly indoors. Stereo camera, lidar, GPS,
IMU, manipulator and other equipment can be optionally added to TRACER as an extended application.
TRACER MINI can be applied to unmanned inspection, scientific research, logistics and other fields.
1.1 Product list
Name Quantit
TRACER MINIrobot body x1
Battery charger 220V x1
Remote control (optional) x1
Aviation plug male（4 Pin）x1
USB to CAN communication module x1
1.2 Performance parameters
Parameter type Item Index
Mechanical parameters
LxWxH(mm) 427.5X 416X 194
Wheelbase(mm) 269
Vehicle body weight (Kg) 24~28
Battery type Lithium battery 24V 15Ah
Motor DC brushless 2 X 150W
Drive form Independent drive
Suspension form Swing arm independent suspension
Steering Differential steering
Safety equipment Servo Brake / Bumper
Performance parameters
Idling maximum speed（m/s）1.8
Minimum turning radius Can turn in place
Code wheel parameters 1024 Line
Minimum ground clearance (mm) 30
Maximum gradeability 8°
Control parameters
Control mode Remote control command mode
Remote Control 2.4G / critical distance 200m
Communication interface CAN
1.3 Required for development
The TRACER MINI can be equipped with a remote control when it leaves the factory. The user can control the
TRACER mobile robot chassis through the remote control to complete the movement and rotation operations.
Besides, TRACER MINI is equipped with a CAN interface, through which users can conduct secondary
development.
1

2 The Basics
This part will give a basic introduction to the TRACER MINI mobile robot chassis, so that users and developers
can have a basic understanding of the TRACER chassis. Figures 2.1 and 2.2 as shown below are overview
diagrams of the entire mobile robot chassis.
Figure 2.1 Front overview diagram
Figure 2.2 Rear overview diagram
TRACER MINI adopts a modular and intelligent design concept as a whole, coupled with a powerful DC hub
motor, so that the TRACER MINI robot chassis development platform can move flexibly on the flat ground
indoors. The front end of the vehicle body is installed with a bumper, which can cut off the power of the motor in
the event of an emergency and reduce the damage to the vehicle body.
Lights are installed in front of the vehicle body, and the front side is designed with blue light for illumination.
The rear of the TRACER MINI is equipped with an open electrical interface and communication interface, which
is convenient for customers to vehiclery out secondary development. The electrical interface adopts aviation
waterproof connectors in the design and selection, which is conducive to the expansion and use of users on the
one hand, and makes the robotplatform available in some harsh environments on the other hand.
Mounting bracket
Bumper
Cabin panel
Electrical panel
2

2.1 Status indication
Users can determine the status of the vehicle body through the voltmeter, lights and buzzer installed on the
TRACER MINI. For details, please refer to Table 2.1.
Status Description
Current voltage After power-on, the rear voltmeter lights up, and the current battery voltage can be viewed
through the voltmeter in the rear electrical panel, accurate to 1V.
Low voltage alarm
When the battery voltage is lower than 22V, the vehicle body will make a "drip-drip-drip"
harsh sound to prompt. When it is detected that the battery voltage is lower than 21.5V, in
order to prevent battery damage, TRACER MINI will actively cut off the external
extended power supply and actuator power supply. At this time, the chassis will be unable
to perform motion control and accept external command control.
Buzzer alarm
For buzzer alarm, one beep (drip...drip....) represents a low-voltage warning. Two beeps
indicate that the bumper bar is triggered or the remote control is disconnected. Three
beeps represent motor overcurrent. Four beeps means the drive communication is lost.
Five beeps represent low-voltage faults. Six beeps represent external 12V overcurrent.
Table 2.1 Vehicle body status description table
2.2 Electrical interface description
2.2.1 Description of rear electrical interface
The extension interface at the rear is shown in Figure 2.3, in which Q1 is the CAN and 24V power extension
interface; Q2 is the power display meter; Q3 is the button switch, which is the main switch of the electrical part;
Q4 is the power charging port.
Figure 2.3 Extension interface at the rear
3

The rear is equipped with a CAN communication interface and a 24V power interface. The specific definition of
its line sequence is shown in Figure 2.5.
Pin No. Pin Type Function and
Definition Remarks
1 Power VCC Positive power supply, voltage range 23~29.2v,
maximum current 7A
2 Power GND Negative power supply
3 CAN CAN_H CAN bus high
4 CAN CAN_L CAN bus low
Figure 2.5 Pin description diagram of rear aviation interface
2.3 Remote control instructions
FS remote control is an optional accessory for TRACER MINI products. Customers can choose according to
actual needs, and can easily control the chassis of the TRACER MINI universal robot by using the remote control.
In this product, we adopt the design of the left-hand accelerator. See Figure 2.6 for its definition and functions.
Figure 2.6 Schematic diagram of FS remote control buttons
The functions of the button are defined as: SWA and SWD are temporarily disabled. SWB is the control mode
selection button, turning to the command control mode when pushed to the top, and the remote control mode
when pushed to the middle. SWC is the lamp mode button. S1 is the accelerator button, which controls TRACER
to move forward and backward; S2 controls the rotation. POWER is the power button. Press and hold at the same
time to turn on the remote control. The back button on the left is used for fault clearing. When pressed, the fault
state will be reset. In particular, if the bumper protection is triggered, if the bumper bar is not in contact at this
time, press it to reset the fault state; when it is in the contact state, you need to press the button and the accelerator
back to release.
Vehicle model
Battery voltage
Chassis status
Chassis battery percentage
Parking
Remote control battery
Errors
(Refer to the failure information description table)
4

2.4 Control command and motion description
We establish the coordinate reference frame of the ground mobile vehicle according to the ISO 8855 standard as
shown in Figure 2.7.
Figure 2.7 Schematic diagram of the vehicle body reference frame
As shown in 2.7, the TRACER MINI body is parallel to the X-axis of the established reference frame.
In the remote control mode, the remote control joystick S1 moves in the positive direction of X when pushed
forward, and moves in the negative direction of X when pushed backward. When S1 is pushed to the maximum
value, the movement speed in the positive direction of X is the largest, and when pushed to the minimum value,
the movement speed in the negative direction of the X direction is the largest. The remote control joystick S2
controls the rotation of the vehicle body left and right. When S2 is pushed to the left, the vehicle body rotates from
the positive direction of the X axis to the positive direction of the Y axis. When S2 is pushed to the right, the
vehicle body rotates from the positive direction of the X axis to the negative direction of the Y axis. When S2 is
pushed to the left to the maximum value, the linear velocity of counterclockwise rotation is the largest, and when
it is pushed to the right to the maximum value, the linear velocity of the clockwise rotation is the largest.
In the control command mode, the positive value of the linear velocity means moving in the positive direction of
the X-axis, and the negative value of the linear velocity means moving in the negative direction of the X-axis. The
positive value of the angular velocity means that the vehicle 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 that the vehicle body
moves from the positive direction of the X axis to the negative direction of the Y axis.
5

3 Getting Started
This part mainly introduces the basic operation and use of the TRACER MINI platform, and introduces how to
carry out the secondary development of the vehicle body through the external CAN port and the CAN bus
protocol.
3.1 Use and operation
Check Start up
 Check the vehicle body condition. Check whether there
is any obvious abnormality in the vehicle body; if so,
please contact after-sales support;
 Press the power switch (Q3 in the electrical panel), under
normal circumstances, the voltmeter displays the battery
voltage normally, and the front light is on normally;
Power off
 Press the power switch to cut off the power;
Basic operation process of remote control
 After the TRACER MINI robot chassis is started normally, turn on the remote control and select the control
mode as the remote control mode, so that the motion of TRACER MINI platform can be controlled by the
remote control.
3.2 Charging
TRACER MINI products are equipped with a 10A charger by default, which can meet the charging needs of
customers. The specific operation process of charging is as follows
 Make sure that the TRACER MINI
chassis is in a
power-off state. Before charging, please confirm that Q3
(power switch) in the rear electrical console is turned off；
 Insert the plug of the charger into the Q4 charging interface
in the rear electrical control panel；
 Connect the charger to the power supply and turn on the
charger switch to enter the charging state.
 When charging by default, there is no indicator light on
the chassis. Whether it is charging or not depends on the
status indication of the charger
3.3 Development
TRACER MINI products provide a CAN interface for users’development, through which users can command
and control the vehicle body.
3.3.1 CAN interface protocol
T
TRACER MINI products adopt CAN2.0B standard for the CAN communication standard, with the
communication baud rate of 500K and the message format of MOTOROLA. The moving linear velocity and
rotating angular velocity of the chassis can be controlled through the external CAN bus interface. Besides,
TRACER MINI will feedback the current motion state information and the state information of the TRACER
MINI chassis in real time, etc.
The protocol includes a system state feedback frame, a motion control feedback frame, and a control frame. The
details of the protocol are as follows:
The system state feedback command includes current vehicle body state feedback, control mode state feedback,
battery voltage feedback and fault feedback. The protocol contents are shown in Table 3.1.
6