Dr Robot Jaguar V4 User manual
Copyright © 2014, Dr Robot Inc. All Rights Reserved.
www.DrRobot.com
V.04.11.14
All-Terrain Autonomous Navigation Robot with GPS-IMU
Jaguar V4
with Manipulator Arm
UserGuide
Copyright © 2014, Dr Robot Inc. All Rights Reserved.
www.DrRobot.com
V.04.11.14
WARNINGS
Do NOT power on the robot before reading and fully understanding the
operation procedures explained in this manual.
Always charge the battery when battery is running low or before
storage.
Always turn your robot off when not in use. Over-draining the
battery (such as keeping the robot on without charging) will damage
the battery.
Never position your finger(s) in between the track and/or arm’s moving parts
even when the power is off.
The robot arms must be positioned to the rest position before turning on the
robot.
Neither the robot, nor the program is bug free, accident could happen; you
have to make sure that the robot always maintains a safe distance from
people during operation.
Failure to follow these warnings could cause serious injury or death and/or
damage to the robot.
Copyright © 2014, Dr Robot Inc. All Rights Reserved.
www.DrRobot.com
V.04.11.14
Copyright Statement
This manual or any portion of it may not be copied or duplicated without the expressed written consent of Dr
Robot.
All the software, firmware, hardware and product design accompanying with Dr Robot’s product are solely owned
and copyrighted by Dr Robot. End users are authorized to use for personal research and educational use only.
Duplication, distribution, reverse-engineering, or commercial application of the Dr Robot or licensed software and
hardware without the expressed written consent of Dr Robot is explicitly forbidden.
www.DrRobot.com
Contact
General: [email protected]
25 Valleywood Drive, Unit 20
Markham, Ontario, L3R 5L9, Canada
Tel: (905) 943-9572 Fax: (905) 943-9197
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Table of Contents
I.Specifications 5
Key Features 5
Jaguar Core Components 7
Main Upgrade Options 7
II.Knowing Your Robot 8
Overlook 8
Operation Scenario 9
Software Installation 9
III.Operation of Jaguar Robot 10
Turn on/off the Platform 10
Using Dr Robot Jaguar Control Program 10
Recharging 15
IV.Hardware and Electronics 16
Network Settings 16
Hardware Architecture 17
Jaguar V4 Base System 19
Jaguar Manipulator Arm System 21
Further Development & Programming 22
The Jaguar Control program 22
Advanced Development 27
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I. Specifications
Jaguar V4 Mobile Robotic Platform with manipulator arm is designed for indoor and outdoor applications
requiring robust maneuverability, terrain maneuverability and object manipulation. It comes with four articulated
arms and is fully wirelessly 802.11N connected. It integrates outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/
Compass) for autonomous navigation. Jaguar V4 platform is rugged, light weight (< 30Kg), compact, weather and
water resistant. It is designed for extreme terrains and capable of stair or vertical climbing up to 300mm with
ease. The 4 articulated arms could convert the robot into various optimal navigation configurations to overcome
different terrain challenges. The integrated high resolution video/audio and optional laser scanner provide remote
operator detail information of the surrounding. Besides the ready to use control and navigation software, a full
development kit including SDK, data protocol and sample codes, is also available.
The integrated rugged 3+1DOF robotic manipulator (Jaguar Arm) is designed for compact mobile robots. It is light
on weight, low on power consumption and compact on size. It has 3 DOF + 1 DOF gripper, with maximum reach of
over 707mm (28 in), max payload capacity of 4Kg at max reach, while weights under 10Kg. Wrist mounted color
video camera provides high resolution (720 x 480) close-up view. Jaguar Arm is ideal for object inspection and
handling. It could also work as an articulated sensor platform. Integrated software features independent joint
space control as well as gripper Cartesian space control. While it only has 3 rotation joints (excluding gripper),
when working together with the Jaguar mobile robot, Jaguar Arm could achieve full 6DOF, and reach virtually any
position and at any orientation within its allowed working space.
Key Features
Rugged and reliable mobile platform for indoor and outdoor applications with robust maneuverability
With Four articulated arms that could convert the robot into various navigation configurations to overcome
different terrain challenges
Indoor and outdoor operation requiring higher ground clearance and on tough terrains
Weather and water resistant enclosure
Climbing up > 55° slope or stairs (max 300mm or 12")
Light weight (< 41Kg) and compact design with large payload capacity
Autonomous navigation with outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Managing max 300mm (12") vertical step (obstacle)
Integrated Laser scanner (Optional)
Integrated high resolution video camera with audio
All 802.11N wirelessly connected
Head mounted display (optional) and Gamepad controller providing outdoor operation with large and clear view
even under direct sunlight
Ready to use control and navigation software
Rugged robotic arm (3DOF + 1DOF gripper) for compact mobile robots
707mm (28 in) reach with max 4Kg payload
Wide gripper opening (150mm/ 6 in)
Integrated joint-space and gripper Cartesian space arm control
Wrist mounted camera providing high resolution (720x480) close-up view
Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio,
Microsoft® Visual Studio, ROS, NI LabVIEW®, MATLAB®, Java®
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Terrain: Sand, rock, concrete, gravel, grass, soil and others wet and dry
Slope: > 55°
Maximum vertical step: 300mm (12”)
Stair climbing: Max stair step height 300mm (12”)
Traverse: > 360mm (14”)
Four articulated arms
Speed: 0 – 4.5Km/hr
Turning radius: 0, min 850mm (33.5”) diameter of turning space
Ground clearance: 38mm (1.5”); Max 150mm (6”) with Stand-Up Arms
Operator remote control
Autonomous navigation with GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Indoor vision landmark GPS (Optional)
Sealed weather resistant enclosure
Temperature: -30° to +50°
Shock resistant chassis
Motion and sensing controller (PWM, Position and Speed Control)
5Hz GPS and 9 DOF IMU (Gyro/Accelerometer/Compass)
Laser scanner (5.6m, 4m or 30m) (Optional)
Temperature sensing & Voltage monitoring
Headlights
Color Camera (640x480, 30fps) with audio on base
Color Camera (720x480, 30fps) on manipulator
WiFi802.11N
Ethernet (Optional)
Ethernet (Optional)
General purpose communication and power port (Optional)
Gamepad controller
Head mounted display (dual 640 x 480), equivalent to 60” display viewed in 2.7m (9 feet) (Optional)
Portable computer (Optional)
Rechargeable battery: LiPo 22.2V 20AH
LiPo battery charger
Nominal operation time: 3 hours
Track Motors (24V): 4 units
Max output (after gear down) (x2): Max 80W, 100Kg.cm/track
Rated current: 2.75A, Max current: 16A
Flipper Motor (24V): 2 units
Max output (after gear down): Max 80W, 450Kg.cm
Rated current: 2.75A, Max current: 16A
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Height: 400mm (15.7”) (manipulator at rest)
Width: 700mm (27.6”)
Length: 980mm (38.5”) (extended arms) / 640mm (25.2”) (folded arms)
Weight: 41Kg (Standard Configuration)
Carrying Payload (on flat surface): max 10Kg
Dragging Payload (on flat surface): max 30Kg
Full development kit including SDK, data protocol and sample codes, supporting Microsoft® Robotics Studio, Microsoft®
Visual Studio, ROS, NI LabVIEW®, MATLAB®, Java®
Jaguar Core Components
JAGUARV4-ME Jaguar V4 Chassis (including motors and encoders) 1
JAGUARARM Jaguar Manipulator Arm 1
PMS5005-JV4 Motion and Sensing Controller (Jaguar V4 Version) 1
WFS802G WiFi 802.11b/g Wireless Module 2
DMD2500 25A (peak 50A) Dual-channel DC Motor Driver Module 2
PMCHR12 DC-DC Power Board 1
AXCAM-A 640x480 Networked Color Camera (max. 30fps) with Two-Way Audio 1
OGPS501 Outdoor GPS Receiver with 5Hz Update Rate and WAAS 1
IMU9000 9 DOF IMU (Gyro/Accelerometer/Compass) 1
WRT802N 802.11N wireless AP/router 1
BPN-LP-20 22.2 V 20 AH LiPo Battery Pack 1
LPBC5000 2A LiPo Battery Charger 2
GPC0010 Gamepad Controller 1
SDC2130 2X20A Motor Controller 2
Main Upgrade Options
Laser Scanner (Range 4m) for Indoor Application LAS04M
Laser Scanner(Range 5.6m) for Indoor Application LAS56M
Laser Scanner (Range 30m) for Outdoor Application LAS30M
22.2V 20 AH Li-Polymer Battery Pack BPN-LP-20
Head Mounted Display (800x600) HMD8H6H
802.11N Wireless AP/Router WRT802N
Host Controller PC HCPC1008
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II. Knowing Your Robot
Overlook
The figure below illustrates the key components that you will identify on the Jaguar robot.
Jaguar V4 with Manipulator Arm Platform
Power Switch
WiFi Antenna Handle Bar
Joint 2
Camera
Laser Scanner
(* Optional)
Headlights
Front Arm-Track
Drive-Track
Rear Arm-Track
Long Range WiFi
Antenna (* Optional)
GPS
Joint 3
Joint 1
Gripper
Arm Camera
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V.04.11.14
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Operation Scenario
Diagram below illustrates the typical operation scenario. The Jaguar is a wireless networked outdoor mobile
robot. It comes with a wireless 802.11 AP/router. The remote host controller PC running the “Jaguar Control”
program connects to the Jaguar robot via:
Network cable – Connect the robot on-board AP/router. (DO NOT connect to the WAN port), or
Wireless – To connect the host controller PC to the on-robot wireless AP/router, configure the host PC’s
wireless settings using the default wireless configuration settings found in the Network Connection
session of this manual.
Human operator carrying the host controller PC could use the head-mounted display (accessory option) and the
included game-pad controller in outdoor environment to monitor and control the operator under any outdoor
lighting environment, even under direct sunshine. The included “Jaguar Control” program will therefore be
projected on the head-mounted display, where you could see all the sensor information from the robot, and the
video streamed from the camera on robot (Please refer to “Jaguar Control program” session for detail).
Typical Operation Scenario
Note: The host controller PC running the “Jaguar Control” program could be mounted on the robot instead off the
robot if your application requires so.
Software Installation
Jaguar Control programs, application development library and supporting documents could be found from the
Jaguar software CD.
On the host controller computer, you should install the following programs from the installation CD:
“Jaguar Control” program - installed by the Setup.exe from CD
Google Earth program - could be downloaded from http://earth.google.com/download-
earth.html. Please follow its installation instruction.
Portable PC (Host controller PC)
(Optional)
Head-mounted display
(Optional)
Gamepad
Controller
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V.04.11.14
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III. Operation of Jaguar Robot
End user could develop his own Jaguar control program using the supplied development API and tools. Here, we
will show you how to control the robot using the included “Jaguar Control Program” (You need to install Google
Earth program first).
Turn on/off the Platform
Please follow the below steps to turn on the robot.
1. Turn the main switch to "ON" position.
2. Press the start button for a while (around 1 second) then release.
If you see the green LED on the start button is on, the system is powered up.
If not, please check the battery to make sure it is fully charged.
Turn the main switch to "OFF" position, the system will shut down.
Using Dr Robot Jaguar Control Program
This program will demonstrate how to control and navigate the Jaguar, move the arm-tracks and how to interpret,
process, display and log multi-sensor information. This program is provided with source code (c#).
updates motor encoder reading, motor temperature, board voltage and
battery voltage measured at 10Hz;
reads and displays IMU and Laser Range sensor data;
displays GPS readings on the Google Earth;
displays and controls Axis camera.
Once you start this program, you will see a “Login Window”
When “Connect Robot” is clicked, it will start the
WiRobotGateway program (also under c:\DrRobotAppFile\) and
will try to connect to the Robot.
Google Earth is then loaded (this may take a while).
Google Earth supports offline use (without Internet), but you
have to obtain the map online ahead of use.
When Internet is not presented, this loading process will take
longer time when trying to connect with Google Earth website.
You will not get the correct Latitude and Longitude position by
clicking on map before the map loading is finished. When loaded,
click “OK” button.
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“FlyToSetPoint” button will bring you to the location (latitude/longitude) specified in “outdoorrobotconfig.xml”.
This is the location you would like the map to center and show around. You should modify this location according
to your location. This could be done by inputting the value in this xml file or navigating on Google Earth map to
your interested point, then clicking “SaveSetPoint” button. The location value of the map center will then be
saved to the “outdoorrobotconfig.xml” when program is closed.
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You could use the vertical track bar to zoom in or out.
When the GPS-IMU module is presented, this program will connect and display the GPS information on Google
Earth and IMU raw data on the 6 chart boxes.
When camera is presented, the video and AV control buttons will be shown in the video window.
You could use the included Gamepad controller to navigate the robot. When used outdoor, especially under direct
sun lights, head-mounted display (optional accessory) will provide clear and large display with excellent outdoor
experience.
Gamepad Controller
Note: when using Gamepad controller, you need to make sure the program window is in “focus”.
Initializing or resetting arm-track position:
After powering up the robot, or when the actual arm position is different from the arm position window (shown on
the right), you should reset the arm-track position as following:
drive the arm forward and being flat on the ground (as shown below), we call this initial or “0”
position (extend forward)
then, click the “X” button on Gamepad to save this value and to set initial position.
Manipulator
arm Gripper
open
Manipulator Arm Gripper
close
Set Flipper Arm initial
position
Manipulator
Arm/Flipper Arm
control switch
Jaguar Forward
/ Backward
Control
Manipulator Arm
Joint3 turn to left
Jaguar Turning Control
Front Arm Up /Manipulator
Arm Joint1 U
p
Reset Flipper Arm to initial
position
Reset Manipulator Arm to
initial position
Front Arm down
/Manipulator Arm Joint1
Manipulator Arm Joint3
turn to right
Rear Arm Up
/Manipulator Arm Joint2
U
Rear Arm Down /Manipulator
Arm Joint2 Down
Front Light
On/Off
Set Manipulator Arm Initial
position
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When is clicked, it will display laser scanner data in polar view as shown below.
Click “Turn on” and then “Scan” button. You could use trackbar to adjust the data cut-off distance (i.e. any
obstacle with distance larger than this value will be ignored). By checking , you will enable the collision
avoidance function.
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Battery information and motor information is displayed here. If the robot uses the
included LiPo battery, you need to stop the robot when voltage is below marked
voltage (22.2V) in order to prevent battery damage. Motor temperatures are also
displayed here. “Encoder Pos” boxes show the encoder position values received
in motor driver board from motion control board.
When selected, the motors will be disabled once motor temperature is
higher than the safety threshold (we recommend this feature to be enabled for safer operation); when de-
selected, motor over-heat protection feature is disabled.
Shows Joints Angle Information and Control Value
* Arm J4 is Gripper
If you press the “Start” button on gamepad to set manipulator initial position, it
will “check” .
After that, you could press “B” button on gamepad to reset manipulator arm to
initial position.
When you operate the manipulator arm, please pay attention to the temperature sensor readings to avoid
overheating the motors
“Arm Driver1” tab will display motor driver controller 1 states (for Joint 1 and 2). If
you did not get the sensor reading back, you could click “QueryCmd” button to
send query command. Please make sure the channel 1 and 2 are working in
position control mode (Mode:3).
will display channel1, 2 motor’s current.
“Arm Driver2” tab will display motor driver 2 states (for Joint3 and Gripper). If you
did not get the sensor reading back, you could click “QueryCmd” button to send
query command. Please make sure the channel 1 is working in position control
mode (Mode:3) and channel 2 is working in open loop mode.
will display channel 1 and 2 motor’s current.
The two horizontal track bars show the Gamepad controller’s left and right stick control value.
You could record raw GPS-IMU/Encoder sensor data using button. The raw sensor data file will be
saved to "c:\DrRoboAppFile" folder with file name GPSIMURec*.txt.
All traces are displayed on Google Earth by KML data. Since the current version of Google Earth does not provide
programming method to clear these KML data, there is risk of memory leak. You could manually clear these KML
data by right-clicking on “Temporary Places”, then choosing “Delete Contents”. (That is why we did not hide
Google Earth program)
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On normal program exit, Google Earth will be closed. However, you should double check by using “Windows Task
Manager”; otherwise, you may not be able to display Google Earth when you start Jaguar control program again.
is Emergency Stop for manipulator arm (disable) action.
You could click the button to resume the manipulator arm controller.
Recharging
Jaguar robot uses high performance LiPo batteries. Extreme caution is needed when dealing with this type of
battery, explosion and damage could occur. Please read the Charge Station manual first and follow all the safety
rules before proceeding further.
1) Turn off the robot
2) Loose the locking screws of the Battery Box, disconnect the 2-Pin
Tamiya connector and take the Battery Box out.
3) Power on the Charge Station. Use to make sure "LiPo BALANCE" is
displayed on the LCD screen. If not, use "Type/Stop" button to change
battery type to "LiPo Battery" and press to set charging mode to “LiPo
BALANCE” .
4) You can use + / + buttons to change the charge current, DO NOT exceed the 2A
charging current and do not modify the battery voltage. It should be "22.2V (6S)" for Jaguar robot.
5) Connect the charging 7-Pin & 4-pin connectors to charger
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6) Press button for few seconds, the charge station will check the battery and display what the reading is. It
should be same as your settings above.
7) If everything is right, you can press button again to start charging.
8) Press to switch the display to show the battery status. The display
should show each battery reading as shown.
*Note: If any battery reading is missing, please turn off the charging station and turn the power switch to “OFF”,
and check the 7-pin connector, make sure it connects well.
9) Keep the charger away from children and pet at all time! Never leave the charger unsupervised when it
is connected to its power supply. For more detail about charger station operation, warning and error message,
maintenance and safety message, please refer to “Intelligent Digital Balance Charger Operation Manual”.
IV. Hardware and Electronics
Network Settings
Wireless Router Setting
The on-robot pre-configured wireless AP has the following pre-set settings:
SSID DriJaguar AP LAN 192.168.0.245
WEP 128bits Login ID admin
KEY drrobotdrrobot Password drrobot
Key Type Open Key
Note: for robot with long range wireless upgrade, the AP IP could be 192.168.0.20 instead of 192.168.0.245.
Device Default Network Settings
Note: The Ethernet modules are configured to serial-to-Ethernet mode in Jaguar platform.
Ethernet Module 1 192.168.0.60
Port 1 Port 10001 to base controller board UDP 115200. 8, N, 1, no flow control
Port 2 Port 10002 to Laser Scanner(option) TCP 19200/115200. 8, N, 1, no flow
control
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Ethernet Module 2 192.168.0.61
Port 1 Port 10001 to IMU sensor TCP 57600. 8, N, 1, no flow control
Port 2 Port 10002 to GPS sensor TCP 115200. 8, N, 1, no flow control
Ethernet Module 3 192.168.0.63
Port 1 Port 10001 to manipulator motor controller 1 TCP 115200. 8, N, 1, no flow control
Port 2 Port 10002 to manipulator motor controller 2 TCP 115200. 8, N, 1, no flow control
Camera 192.168.0.65 Port 8081
User ID root
Password drrobot
Manipulator Arm
Camera 192.168.0.64 Port 8082
User ID root
Password drrobot
Advanced Network Settings
You could also change the Wireless AP/router settings such as IP and SSID etc., if you need to do so, you are
required to change the network settings on the Ethernet modules on the robot by following the guidelines as
illustrated on the Ethernet Module manual.
Hardware Architecture
The diagram below illustrates the inter-connection between the core electronic circuits and modules (some are
optional accessories).
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Antenna
OFF
Front arm
Rear Arm
Motor Driver
Board
#
1
Encoder-A
Encoder-B
PWM-A
PWM-B
Left Driving
Motor
Right Driving
Motor
Motor Driver
Board
#
2
Encoder-C
Encoder-D
PWM-C
PWM-D
Communication
Voltage
Meter
Power
5V
Temperature
Head Light
Control
Motion Sensing Controller (Jaguar Ver.)
Ethernet Module 1
Port 10001 Port 10002
Power 3.3V Ethernet Module 2
Port 10001 Port 10002
Power 3.3V
Laser Scanner
9 DOF IMU
(Gyro/ Accelerometer/
Compass)
GPS Module
Camera (AV)
Wireless AP/Router
LAN
Power 5V
Power 5V
Power 5V
Power 5V
Power 5V
Head Lights
DC-DC Power Board
5V
5V
5V
3.3V
Control
Port
Power
IN
Charging
Plug
ON
LiPo 22.2V
10AH
Host Control
PC
Head Mount
Display
Gamepad
Controller
Main Switch
Antenna
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Jaguar V4 Base System
Motor Driver Board
Two motor driver boards are used, one for the left and right track/wheel motors while the other one is for the arm
motor.
Input power H-Bridge 2 channels
Max current up to 25A continuous power per channel, peak up to 50A per channel for a few seconds
Input voltage 6~24V, 30V absolute max
Motion and Sensing Controller
This is a special version of PMS5005 board.
Input power 5V
6 PWM output Arm motor: Channel 0
Left and right track/wheel motors: Channel 3 – Drive Power; Channel 4 – Turn Power
Motor control mode PWM control; Velocity control; Position control
Sensor sampling Encoders: Channel 0,for left and right arm-track
Channel 3,4 for left and right track/wheel
Board voltage measuring
Battery voltage measuring
Motor temperature measuring (3 units)
Other extended A/D channels (please contact Dr Robot).
Camera
Input power 5V
Lens 4.4mm: 47° horizontal view, F2.0, fixed iris, fixed focus
Light sensitivity 1-10000 lux, F2.0
0 lux with headlights LED on
Resolutions 640x480 to 160x120
Frame rate H.264: 30 fps in all resolutions
Motion JPEG: 30 fps in all resolutions
MPEG-4 Part 2: 30 fps in all resolutions
Video compression
H.264 (MPEG-4 Part 10/AVC), Motion JPEG
MPEG-4 Part 2 (ISO/IEC 14496-2)
Audio streaming Two-way
Other features PIR motion sensor with configurable sensitivity. Max range: 6 m
GPS
Input power 5V
Update rate 5Hz
Sensitivity - 185dBW minimum
Accuracy Standard GPS service: Position: <= 15m 95% typical
Velocity: 0.1knot RMS steady state
WAAS service: Position: <= 3m 95% typical
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Output Interface NMEA 0183, default GPRMC/GPGGA/GPGSA/GPVTG
Binary Output
9 DOF IMU (Gyro, Accelerometer & Digital Compass)
Input power 5V
Gyro Sensors ITG-3200 triple-axis gyro
Accelerometers 3 Axis
ADXL345
13bit resolution
Max +/-16G
Magnetic Compass 3 Axis HMC5883L magnetometer
Output Frequency 50Hz
Output all sensor raw data and processed data by on-board MCU through serial port
Laser Scanner
Two laser scanner options are available, one with measurement range of 0.02-4m, and other one is 0.1-30m.
Input power 5V
Detectable range 0.02-4m
Accuracy 0.02 to 1m: +/- 10mm
1 to 4m: 1%
Measurement Resolution 1mm
Angular Resolution approx 0.36o (360o/1024 partition)
Scanning angle 240o
Input power 12V
Detectable range 0.1-30m
Accuracy 0.1 to 10m: +/- 30mm
Measurement Resolution 1mm
Angular Resolution approx 0.25o (360o/1440 steps)
Scanning angle 270o
Batteries
Battery type Li-Po
Rated Voltage 22.2V (6 cells, 3.7V/cell)
Capacity 10Ah
Discharge rate Max 50A continuous, Max 100A peak
Max charge rate 10A
Cycle life 500-1000 times
Charger
Charger type LiPo Charger
Maximum charge current 2A
Maximum discharge current 2A
Power Input 100-240V
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