Omron Adept MobileRobots Pioneer 3 User manual

Omron Adept Mobile Robots
Development Platforms for Research and Education
Pioneer 3
Operations Manual
P3DX-SH P3AT-SH with ARCOS
P3X0001 P3T0001
Revision 6.5 ● April 7 2017

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© Copyright 2017 Omron Adept MobileRobots LLC. All rights reserved.
This doc ment, as well as the software described in it, is provided nder license and may only be sed or copied in accordance with
the terms of the respective license.
Information in this doc ment is s bject to change witho t notice and sho ld not be constr ed as a commitment by Omron Adept
MobileRobots, Omron Adept Technologies, or Omron.
The software on disk, CD-ROM, firmware, and any other media which accompany the robot and are available for network download
by Omron Adept Technologies c stomers are solely owned and copyrighted or licensed for se and distrib tion by Omron Adept
MobileRobots and/or Omron Adept Technologies.
Developers and sers are a thorized by revocable license to develop and operate c stom software for personal research and
ed cational se only. D plication, distrib tion, reverse-engineering or commercial application of Omron Adept MobileRobots, Omron
Adept Technologies or Omron Corporation software and hardware witho t license or the express written consent is explicitly
forbidden.
Performance PeopleBot™, G iaBot™, AmigoBot™, PowerBot™, PatrolBot®, Seek r®, Seek r® Jr, Mapper3™, MobileSim™ and
MobileEyes™ are trademarks and registered trademarks of Omron Adept Technologies. Other names and logos for companies and
prod cts mentioned or feat red in this doc ment are often registered trademarks or trademarks of their respective companies.
Mention of any third-party hardware or software constit tes neither an endorsement nor a recommendation by Omron Adept
MobileRobots, Omron Adept Technologies or Omron Corporation.
About Omron Adept MobileRobots
In 1995, ActivMedia, Inc. vent red with Real World Interface, Inc. to la nch the Pioneer Mobile Robot. In
1999, ActivMedia Robotics began evolving the Pioneer line of mobile robot platforms for research,
development, commercial and ind strial se. In 2006, ActivMedia Robotics, LLC, became MobileRobots
Inc. In 2010, MobileRobots Inc. was acq ired and merged with Omron Adept Technology, Inc. In 2015,
Adept was acq ired by Omron, a global electronics and ind strial a tomation company.
As part of Omron Adept Technologies and Omron, we contin e to develop and s pport the Pioneer robots
for research, ed cation and c stom R&D. Even tho gh the names have changed, o r devotion to provide
c stomizable, high q ality, d rable platforms for c stom robotics development applications has not.
Pioneer 1 (1995)
Omron Adept MobileRobots
10 Columbia Dr.
Amherst NH 03031
USA
1 [phone]
http://www.mobilerobots.com

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Important Safety Instructions
Read the installation and operations instr ctions before sing the eq ipment.
Avoid sing power extension cords.
To prevent fire or shock hazard, do not expose the eq ipment to rain or moist re.
Refrain from opening the nit or any of its accessories.
 Keep wheels away from long hair or f r.
 Never access the interior of the robot with charger attached or batteries inserted.
Inappropriate Operation
Inappropriate operation voids your warranty! Inappropriate operation includes, but is not
limited to:
Dropping the robot, r nning it off a ledge, or otherwise operating it in an irresponsible manner
Overloading the robot above its payload capacity
Getting the robot wet
Contin ing to r n the robot after hair, yarn, string, or any other items have become wo nd aro nd the robot’s
axles or wheels
Opening the robot with charger attached and/or batteries inserted
 All other forms of inappropriate operation or care
Use authori ed parts ONLY;
warranty void otherwise.

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Contents
About Omron Adept MobileRobots ..................................................................................................................................... ii
Chapter 1 Introduction ........................................................................................................................................................ 1
Robot Packages ....................................................................................................................................................................... 1
Included Components (all robots) ....................................................................................................................................... 1
Optional Components Parts and Attachments (partial list)................................................................................................ 1
IO and Power Connections .................................................................................................................................................. 2
Software and Pioneer SDK ....................................................................................................................................................... 2
Additional Resources ............................................................................................................................................................... 3
Support Website .................................................................................................................................................................. 3
Newsgroups ......................................................................................................................................................................... 3
Support ................................................................................................................................................................................ 4
Chapter 2 Specifications & Controls ..................................................................................................................................... 5
Physical Characteristics and Co ponents ............................................................................................................................... 5
Deck ......................................................................................................................................................................................... 6
E-Stop Button ........................................................................................................................................................................... 6
User Control Panel ................................................................................................................................................................... 6
Power and Status Indicators ................................................................................................................................................ 6
Buzzer .................................................................................................................................................................................. 6
Serial Port ............................................................................................................................................................................ 7
Power Switches .................................................................................................................................................................... 7
Reset and Motors ................................................................................................................................................................ 7
Body, Nose and Accessory Panels ............................................................................................................................................ 7
Nose ..................................................................................................................................................................................... 8
Access Panels ....................................................................................................................................................................... 8
SONAR ...................................................................................................................................................................................... 8
Multiplexed Operation ........................................................................................................................................................ 8
Sensitivity Adjustment ......................................................................................................................................................... 8
Motors, Wheels, and Position Encoders .................................................................................................................................. 9
Batteries and Power ................................................................................................................................................................ 9
Battery Indicators and Low Voltage Conditions .................................................................................................................. 9
Recharging ........................................................................................................................................................................... 9
Safety ARCOS Watchdogs ...................................................................................................................................................... 10
Chapter 3 Accessories ........................................................................................................................................................ 11
Joystick and Joydrive Mode ................................................................................................................................................... 11
Bu pers ................................................................................................................................................................................. 11
Auto ated Recharging Accessory ......................................................................................................................................... 12
Manual Operation (Robot Power OFF) .............................................................................................................................. 12
Manual Operation (Robot Power and Systems ON) .......................................................................................................... 12
Radio Controls and Accessories ............................................................................................................................................. 12

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Integrated PC ......................................................................................................................................................................... 13
Computer Control Panel .................................................................................................................................................... 13
Operating the Onboard PC ................................................................................................................................................ 14
Onboard PC Networking .................................................................................................................................................... 14
Gyroscope .............................................................................................................................................................................. 15
Chapter 4 Quick Start ......................................................................................................................................................... 16
Preparative Hardware Asse bly ........................................................................................................................................... 16
Install Batteries .................................................................................................................................................................. 16
Client-Server Communications .......................................................................................................................................... 16
ARIA De o ............................................................................................................................................................................. 16
Demo Startup Options ....................................................................................................................................................... 17
A Successful Connection .................................................................................................................................................... 18
Operating the ARIA De onstration Client ............................................................................................................................. 18
Disconnecting ........................................................................................................................................................................ 19
Networking with MobileEyes ................................................................................................................................................. 19
Start serverDemo ............................................................................................................................................................... 19
Start MobileEyes and Connect with serverDemo .............................................................................................................. 19
Operating MobileEyes ....................................................................................................................................................... 19
Quickstart Troubleshooting ................................................................................................................................................... 20
Parameter Files .................................................................................................................................................................. 20
Proper Connections ........................................................................................................................................................... 20
Chapter 5 Soft are and Robot Control .............................................................................................................................. 21
Robot Connection .................................................................................................................................................................. 21
Robots in Motion ................................................................................................................................................................... 21
Requesting Robot Motion.................................................................................................................................................. 21
PID Controls ....................................................................................................................................................................... 22
Position Integration ........................................................................................................................................................... 23
Client-Server Co unication Packet Protocols ..................................................................................................................... 23
Packet Checksum ............................................................................................................................................................... 24
Packet Errors ...................................................................................................................................................................... 24
The Client-Server Connection ................................................................................................................................................. 25
Autoconfiguration (SYNC2) ................................................................................................................................................ 25
Opening the Servers—OPEN.............................................................................................................................................. 25
Server Information Packets ............................................................................................................................................... 25
Keeping the Beat—PULSE .................................................................................................................................................. 27
Closing the Connection—CLOSE ........................................................................................................................................ 27
Client Co ands ................................................................................................................................................................... 27
Argument Types ................................................................................................................................................................. 27
Command Listing ............................................................................................................................................................... 28
Motion Co ands and Para eters ...................................................................................................................................... 31
Client Motion Commands .................................................................................................................................................. 31
DriftFactor RevCount and TicksMM Parameters ............................................................................................................. 32
SONAR .................................................................................................................................................................................... 32
Enable/Disabling SONAR.................................................................................................................................................... 32
Polling Sequence ................................................................................................................................................................ 32
Polling Rate ........................................................................................................................................................................ 32

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SONAR Range Readings ..................................................................................................................................................... 33
Stalls and e ergencies .......................................................................................................................................................... 33
Accessory Co ands and Packets ........................................................................................................................................ 33
Packet Processing .............................................................................................................................................................. 34
CONFIGpac and CONFIG Command ................................................................................................................................... 34
Serial ...................................................................................................................................................................................... 36
HOST-to-AUX Serial Transfers ............................................................................................................................................ 36
Encoders ................................................................................................................................................................................ 36
Buzzer Sounds ........................................................................................................................................................................ 36
TCM2 Co pass ...................................................................................................................................................................... 37
Calibration ......................................................................................................................................................................... 38
Reset Mode ........................................................................................................................................................................ 38
Input Output (I/O) .................................................................................................................................................................. 39
User I/O ............................................................................................................................................................................. 39
IO Packets .......................................................................................................................................................................... 39
Bumper and IR I/O ............................................................................................................................................................. 40
Joystick ................................................................................................................................................................................... 40
Gripper ................................................................................................................................................................................... 41
Heading Correction Gyro ....................................................................................................................................................... 41
Client-Side Gyro ................................................................................................................................................................. 42
Server-Side Gyro ................................................................................................................................................................ 42
Chapter 6 Updating & Reconfiguring ARCOS ...................................................................................................................... 43
Where to Get ARCOS Software .............................................................................................................................................. 43
ARCOS Maintenance Mode .................................................................................................................................................... 43
Enabling Maintenance Mode ............................................................................................................................................. 43
ARCOScf ................................................................................................................................................................................. 44
Starting ARCOScf ................................................................................................................................................................... 44
Start Up Arguments ........................................................................................................................................................... 44
Configuring ARCOS Para eters ............................................................................................................................................. 45
Interactive Commands ....................................................................................................................................................... 45
Changing Parameters ......................................................................................................................................................... 45
Save Your Work ...................................................................................................................................................................... 45
PID Para eters ...................................................................................................................................................................... 48
DriftFactor, Ticks and RevCount ...................................................................................................................................... 48
StallVal and StallCount .......................................................................................................................................................... 49
Bu pers ................................................................................................................................................................................. 49
IRs .......................................................................................................................................................................................... 49
README ................................................................................................................................................................................. 50
Chapter 7 Calibration & Maintenance ................................................................................................................................ 51
Tire Inflation .......................................................................................................................................................................... 51
Calibrating Your Robot........................................................................................................................................................... 51
Standard Calibrations ........................................................................................................................................................ 51

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Gyroscope Calibrations ...................................................................................................................................................... 51
Drive Lubrication .................................................................................................................................................................... 52
Batteries................................................................................................................................................................................. 52
Changing Batteries ............................................................................................................................................................. 52
Hot-Swapping the Batteries ............................................................................................................................................... 52
Charging the Batteries ....................................................................................................................................................... 52
Automated Docking/Charging System ............................................................................................................................... 53
Alternative Battery Chargers ............................................................................................................................................. 53
Tightening the AT Drive Belt ................................................................................................................................................. 53
Getting Inside ......................................................................................................................................................................... 54
Removing the Nose ............................................................................................................................................................ 54
Opening the Deck .............................................................................................................................................................. 54
Factory Repairs ...................................................................................................................................................................... 54
Chapter 8 Appendix A ........................................................................................................................................................ 56
Robot Microcontroller Ports & Connectors ............................................................................................................................ 56
Main Power Input .............................................................................................................................................................. 57
Auxilliary Serial Ports ......................................................................................................................................................... 57
User I/O Gripper and Automated Recharger Connector .................................................................................................. 58
AN4 AN5 Analog Inputs (“TILT/ROLL”) ............................................................................................................................. 59
Motors Encoders and IRs .................................................................................................................................................. 60
Joystick ............................................................................................................................................................................... 60
Bumpers ............................................................................................................................................................................. 60
SONAR................................................................................................................................................................................ 61
User Control Board ............................................................................................................................................................ 61
Gyro ................................................................................................................................................................................... 61
Chapter 9 Appendix B ........................................................................................................................................................ 63
Motor-Power Distribution Board ........................................................................................................................................... 63
Microcontroller Connection .............................................................................................................................................. 63
Auxiliary and User Power Connectors ............................................................................................................................... 63
IR Signal and Power ........................................................................................................................................................... 65
Chapter 10 Appendix C ...................................................................................................................................................... 66
Specifications ......................................................................................................................................................................... 66
Chapter 11 Appendix D ...................................................................................................................................................... 68
Syste Interconnection/Wiring Diagra .............................................................................................................................. 68
Chapter 12 Warranty & Liabilities ...................................................................................................................................... 69
Index.................................................................................................................................................................................. 70

1
Chapter 1 Introduction
Congrat lations on yo r p rchase and welcome to the rapidly growing comm nity of developers and enth siasts of
Pioneer intelligent mobile platforms.
This man al provides both the general and technical details yo need to operate yo r robot and to begin developing
yo r own robotics software.
Note: For operation of previo s versions of robots which se the Siemens C166- or Hitachi H8S-based robot
microcontrollers, original motor-power boards and s pport systems, please contact [e-mail] or access
o r s pport website: http://robots.MobileRobots.com for their related doc mentation.
R OBOT P ACKAGES
O r experienced man fact ring staff p t yo r mobile robot and accessories thro gh a “b rn in” period and caref lly
tested them before shipping the prod cts to yo . In addition to the companion reso rces listed above, we warrant yo r
Pioneer 3 platform and o r man fact red accessories against mechanical, electronic, and labor defects for one year.
Third-party accessories are warranted by their man fact rers, typically for 90 days.
Even tho gh we’ve made every effort to make yo r robot package complete, please check the components caref lly
after yo npack them from the shipping crate.
Included Components (all robots)
One f lly assembled mobile robot, battery or batteries, and charger
oDifferential drive system
oWheel encoders
oDedicated robot motion controller (microcontroller)
oMotor/Power distrib tion board
oPower and battery level indicators
oAUX Power switches on side control panel
oRESET and MOTORS p shb tton controls on side panel
oPiezo b zzer
oOptional onboard comp ter IO connections and power b tton
CD, DVD or USB device containing licensed copies of Pioneer SDK software and doc mentation
Any necessary wrenches, mo nting screws, f ses and other replacement parts
Man al(s)
S pplementary doc mentation for accessories and options
Registration and Acco nt Sheet
Optional Components, Parts and Attachments (partial list)
Contact [e-mail] or visit http://www.mobilerobots.com for more information on ordering replacement
or additional optional accessory parts. Refer to additional doc mentation incl ded with yo r shipment and available at
http://robots.mobilerobots.com for more information on accessories and options ordered with yo r robot.
Some options are only available on certain robot platforms.
Onboard internal onboard single-board comp ter
Additional batteries
Optional sonar

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Laser range finder (with navigation software development kits for a tonomo s navigation of the robot)
Gripper
Manip lator Arm with gripper
Stereo Vision Systems
Pan-Tilt-Zoom Camera
Global Positioning System
Heading-correction accelerometer gyro (installed inside robot)
Front and/or rear b mper switch assemblies, or replacement switches.
USB-Serial comm nications/config ration adapter cable
Mo nting brackets and plates
E-Stop b tton
Replacement or additional top plate(s)
Replacement wheels
Indoor- se wheels (Pioneer 3-AT)
Optional 2-axis, 2-b tton joystick for direct man al control of robot
IO and Power Connections
Yo r Pioneer 3 robot has a variety of expansion power and I/O ports for integration of a client PC, sensors, and other
accessories.
3 RS-232 a xilliary serial ports (AUX serial) config rable from 9.6 to 115.2 kiloba d, accessible thro gh robot
microcontroller
1 “HOST” (or “SERIAL”) client software comm nications connection (internal and external serial ports)
Maxim m 4 optional ltrasonic “SONAR” sensor arrays of 8 ltrasonic transd cers each
inp ts for optional b mper switches
16 digital I/O lines for accessories or c stomer se
Analog inp t
5 and 12 V DC power
Optional heading correction gyro
Optional 2-axis, 2-b tton joystick for direct man al control of robot
S OFTWARE AND P IONEER SDK
The Pioneer SDK is a collection of libraries and applications that come with every Pioneer mobile robot and with
selected accessories. The standard Pioneer SDK b ndled with every robot at no extra charge incl des the open-so rce
ARIA and ArNetworking, the MobileEyes and Mapper3-Basic network GUI applications, SONARNL and MobileSim.
ARIA provides an interface and framework for controlling and receiving data from all Pioneers, as well as most
accessories (some devices also have separate interface libraries). ARIA also has tilities sef l for writing robot control
software as well as tools for writing cross-platform (Windows and Lin x) code and s pport for network sockets and
threads. ArNetworking provides a simple, extensible framework for client-server network programming.
MobileSim is an open-so rce application based on Stage that Omron Adept MobileRobots engineers have c stomized
and extended to best sim late all Pioneer platforms and many accessories.
MobileEyes, enabled thro gh ARIA and ArNetworking, is a GUI application for config ration, operation and monitoring of
yo r Pioneer platform over the network.

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The SONARNL libraries enable yo r SONAR-based Pioneer platforms to localize and a tonomo sly navigate indoor
spaces. Make yo r working maps for SONARNL with the free GUI Mapper 3-Basic application.
Optional, typically accessory-b ndled Pioneer SDK libraries incl de ARNL and MOGS. ARNL enables a m ch more
rob st, laser-based a tonomo s localization and navigation. ARNL is the best-in-class software fo ndation for Omron
Adept MobileRobots' Motivity commercial- and ind strial-ready mobile localization and navigation systems. Use MOGS
to f se laser and DGPS sensor data to g ide yo r Pioneer robots o tdoors.
Several other robotics applications development environments also have emerged to s pport Pioneer mobile robots,
incl ding Ayll , Player/Stage, Carmen, Microsoft Robotics Developer St dio and Robot Operating System (ROS). See
doc mentation provided with the development environment for more information, incl ding doc mentation on sing
Pioneer robots.
A DDITIONAL R ESOURCES
New c stomers get three additional and val able reso rces:
A private acco nt on o r s pport Internet website for downloading software, pdates, and man als
Access to private newsgro ps
Direct access to the Pioneer technical s pport team
Support Website
For software pdates, man als, and a knowledge base of information, or to contact technical s pport staff, visit:
http://support.mobilerobots.com
Some areas of the website are restricted to licensed c stomers. To gain access, enter the sername and password
written on the Registration & Account Sheet that accompanied yo r robot.
Newsgroups
We maintain several email-based newsgro ps thro gh which robot owners share ideas, software, and q estions abo t
the robot. Visit the s pport http://support.mobilerobots.com website for more details. To sign p for pioneer-
sers, for example, send an e-mail message to the –requests a tomated newsgro p server:
To: pioneer- sers-req [e-mail]
From: <yo r ret rn e-mail address goes here>
S bject: <choose one command:>
help (ret rns instr ctions)
lists (ret rns list of newsgro ps)
s bscribe
ns bscribe
O r e-mail list server will respond a tomatically. After yo s bscribe, e-mail yo r comments, s ggestions, and
q estions intended for the worldwide comm nity of Pioneer sers:
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To: pioneer- [e-mail]
From: <yo r ret rn e-mail address goes here>
S bject: <something of interest to pioneer sers>
1
Note: Leave o t the –req ests part of the email address when sending messages to the newsgro p.

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Access to the pioneer-users e-mail newslist is limited to s bscribers, so yo r address is safe from spam. However,
the list c rrently is nmoderated, so please confine yo r comments and inq iries to iss es concerning the operation
and programming of Pioneer platforms.
Support
Have a problem? Can’t find the answer in this or any of the accompanying man als? Or do yo know a way that we
might improve o r robots? Share yo r tho ghts and q estions with s from the online form at the s pport website:
http://robots.MobileRobots.com/techsupport
or by email:
[email protected]
Please incl de yo r robot's serial number (look for it beside the Main Power switch)we often need to nderstand
yo r robot's config ration to best answer yo r q estion.
Tell us your robot’s SERIAL NUMBER.
Yo r message goes directly to the technical s pport team. There a staff member will help yo or point yo to a place
where yo can find help.
Beca se this is a s pport option, not a general-interest newsgro p like pioneer-users , we reserve the option to reply
only to q estions abo t problems with yo r robot or software.
Use authori ed parts ONLY;
warranty void otherwise.

5
Chapter 2 Specifications & Controls
P HYSICAL C HARACTERISTICS AND C OMPONENTS
Pioneer robots are composed of several main parts:
Deck
Motor Stop B tton (optional on DX)
User Control Panel
Body, Nose, and Accessory Panels
Optional SONAR Array(s)
Motors, Wheels, and Encoders
Batteries and Power
Figure 2. Pioneer 3- X’s physical dimensions and swing radius.
Figure 1. Pioneer 3- X features

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Figure 3. Pioneer 3-AT’s console and hinged
deck
Figure 4. P3- X User Control
Panel
D ECK
Pioneer 3 has a hinged top-plate or deck which gives yo access to
internal components of the robot, and provides a s rface for
mo nting accessory devices and other eq ipment . Slots on each
side of the deck plate let yo conveniently ro te cables to the
accessory connectors on the side panels of the robot. A
removable pl g in the middle of the deck plate allows cables to
enter the interior of the robot.
Eq ipment may be attached to the deck or body sing the
predrilled mo nting holes, or by removing the top plate and c tting,
drilling or c stomizing as needed.
Warning: Do not drill or c t the top plate while mo nted on the
robot. Always remove the plate from the robot before modifying.
Important: When mo nting accessories, yo sho ld try to center
the robot's payload over the drive wheels. A f ll complement of
batteries helps balance the robot, too.
Warning: always remove the deck (top plate) from the robot before drilling or cutting!
E-S TOP B UTTON
A STOP b tton is incl ded standard with Pioneer 3-AT and optionally with Pioneer 3-DX. Press to immediately disengage
the robot’s motor power. It will also ca se a stall state, indicated in flags available to ser software and by beeping
so nd from the onboard piezo speaker ( nless so nds have been disabled).
Press the STOP b tton again to re-enable motor power.
U SER C ONTROL P ANEL
The User Control Panel is where yo have access to controls for the ARCOS-based onboard robot microcontroller. This
panel is on the top deck of the Pioneer 3 AT, and is on the left sidepanel of the Pioneer 3 DX.
Power and Status Indicators
The red PWR LED is lit whenever main power is applied to the robot. The green STAT LED state depends on the
operating mode and other conditions. It flashes slowly when the microcontroller is awaiting a connection with a client
and flashes q ickly when in joystick drive mode or when connected with a client and the motors are engaged. It also
flashes moderately fast when the microcontroller is in maintenance mode.
The BATTERY LED’s apparent color depends on yo r robot’s battery voltage:
green when f lly charged (>12.5 volts) thro gh orange, and finally red when
the voltage drops below 11.5. When in maintenance mode, the BATTERY LED
glows bright red only, regardless of battery charge.
Bu er
A b ilt-in piezo b zzer provides a dible cl es to the robot’s state, s ch as pon
s ccessf l start p of the microcontroller and a client connection. The SAY
command lets yo program the b zzer, too, to play yo r own MIDI so nds (see
Client Commands on page 27 for details).

7
Figure 5. P3-AT computer and user controls
Serial Port
The host SERIAL connector, with incoming and o tgoing data indicator LEDs ( RX and TX , respectively), is thro gh where
yo may interact with the ARCOS microcontroller from an offboard comp ter for tethered client-server control and for
microcontroller software maintenance. The port is shared internally by the HOST serial port, to which we connect the
onboard comp ter or an Ethernet-to-serial device. Either the SERIAL or HOST connector may be sed for client-server
and maintenance mode comm nication with the microcontroller.
To avoid comm nication conflicts, digital switching circ itry disables the internal HOST serial port if the attached serial
device hasn’t opened the port. However, serial port interference will be a problem if the HOST and User Control SERIAL
ports are both occ pied and engaged. Accordingly, remove the cable from the User Control SERIAL port if yo plan to
connect with the microcontroller thro gh the HOST port.
In partic lar, if yo have a serial cable connected to the User Control Panel SERIAL port, with the attached PC has that
serial port opened for comm nications, and yo then reset or power p the robot and microcontroller, ARCOS
a tomatically goes into maintenance mode.
Power Switches
The AUX1 and AUX2 switches on the User Control Panel are p shb ttons which engage or disengage power to 5 and
12 VDC connectors on the Motor-Power board to which we or yo attach power for vario s accessories. For example,
12 VDC power for the PTZ camera typically gets switched via the AUX1 p shb tton. See Appendix B for power
connections. Respective red LEDs indicate when power is ON.
Reset and Motors
The red RESET p shb tton acts to nconditionally reset the microcontroller, disabling any active connections or
attached devices, incl ding the motors.
The white MOTORS p shb tton’s actions depend on the state of the microcontroller. When connected with a client,
p sh it to enable and disable the motors man ally, as its label implies.
2
To man ally engage ARCOS maintenance mode, press and hold the white MOTORS b tton, press and release the red
RESET b tton, then release MOTORS . Note that while this man al operation was req ired to engage maintenance
mode with previo s robot microcontrollers, it is no longer necessary with ARCOS.
B ODY , N OSE AND A CCESSORY P ANELS
Yo r Pioneer 3’s st rdy, b t lightweight al min m body ho ses the batteries, drive motors, electronics and other
common components, incl ding the front and rear SONAR arrays. The body also has s fficient room, with power and
signal connectors, to s pport a variety of robotics accessories inside, incl ding an A/V wireless s rveillance system,
radio Ethernet, onboard comp ter, laser range finder and more.
2
A client command lets yo engage/disengage the motors programmatically. See chapter 6.

8
Figure 6. Pioneer 3 SONAR array
On all models except those o tfitted with the docking-charging system, a hinged rear door gives yo easy access to the
batteries, which yo may q ickly hot-swap to refresh any of p to three batteries.
Nose
The nose is where we p t the optional onboard PC. The nose is readily removable for access: Simply remove two
screws from nderneath the front SONAR array. A third screw holds the nose to the bottom of the AT’s body. The DX
nose is hinged at the bottom.
Once the mo nting screws are removed, simply p ll the nose away from the body.
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This provides a q ick and easy way
to get to the accessory boards and disk drive of the onboard PC, as well as to the SONAR gain adj stment for the front
SONAR array. The nose also is an ideal place for yo to attach yo r own c stom accessories and sensors.
Access Panels
All DX’s come with a removable right-side panel thro gh which yo may install accessory connectors and controls. A
special side panel comes with the onboard PC option, for example, which provides connectors for a monitor, keyboard,
mo se and 10Base-T Ethernet, as well as the means to reset and switch power for the onboard comp ter.
AT’s come with a single access panel in the deck. Fastened down with finger-tight screws, the User Control Panel and
onboard comp ter controls are accessible beneath the hinged door.
All models come with an access port near the center of the deck thro gh which to r n cables to the internal
components.
SONAR
Pioneer 3 s pports p to fo r SONAR arrays, each with p to eight transd cers that provide object detection and range
information for collision avoidance, feat res recognition, localization, and navigation. The SONAR positions in all
Pioneer 3 SONAR arrays are fixed: one on each side, and six facing o tward at 20-degree intervals.
Multiplexed Operation
Each SONAR array’s transd cers are m ltiplexed: Only one disc per array is active at a time, b t all fo r arrays fire one
transd cer sim ltaneo sly. The SONAR ranging acq isition rate is adj stable, normally set to 25 Hz (40 milliseconds
per transd cer per array). Sensitivity ranges from 10 centimeters (six inches) to five meters, depending on the ranging
rate. Yo may control the SONAR’s firing pattern thro gh software, too; the defa lt is left-to-right in seq ence for each
array. See the ARCOS Chapters 6 and 7 for details.
Sensitivity Adjustment
The driver electronics for each array is calibrated at the factory. However, yo may adj st the array’s sensitivity and
range to accommodate differing operating environments. The SONAR gain control is on the nderside of the SONAR
driver board, which is attached to the floor of each SONAR mod le.
SONAR sensitivity adj stment controls are accessible directly, altho gh
yo may need to remove the Gripper to access the front SONAR, if yo
have that accessory attached. For the front SONAR, for instance, locate
a hole near the front nderside of the array thro gh which yo can see
the cap of the SONAR-gain adj stment potentiometer. Using a small flat-
bladed screwdriver, t rn the gain control co nterclockwise to make the
SONAR less sensitive to external noise and false echoes.
Low SONAR-gain settings red ce the robot’s ability to see small objects.
Under some circ mstances, that is desirable. For instance, atten ate
the SONAR if yo are operating in a noisy environment or on neven or
highly reflective floora heavy shag carpet, for example. If the SONAR
3
With older Pioneer 2 models, yo also needed to remove the Gripper before removing the nose. With P3 models, the robot’s nose and Gripper come
off together, so yo only need to remove the nose mo nting screws.

9
are too sensitive, they will “see” the carpet immediately ahead of the robot as an obstacle.
Increase the sensitivity of the SONAR by t rning the gain-adj stment screw clockwise, making them more likely to see
small objects or objects at a greater distance. For instance, increase the gain if yo are operating in a relatively q iet
and open environment with a smooth floor s rface.
M OTORS , W HEELS , AND P OSITION E NCODERS
Pioneer 3 drive systems se high-speed, high-torq e, reversible-DC motors, each eq ipped with a high-resol tion
optical q adrat re shaft encoder for precise position and speed sensing and advanced dead-reckoning. Motor
gearhead ratios, encoder ticks-per-revol tion and tire sizes vary by robot model. However, ARCOS can correct for tire
mismatches and convert most client commands and reported server information from platform-independent distance
and heading nits into platform-dependent encoder ticks, as expressed in the DriftFactor, TicksMM and RevCount
FLASH parameters. Please read Chapter 6 for more details.
All Pioneer 3-DX robots come with foam-filled solid tires with knobby treads.
4
Pioneer 3-AT tires are pne matic so that
yo may config re yo r robot for differing terrains. In any config ration, be caref l to inflate the 3-AT tires evenly and
adj st the respective DriftFactor , TicksMM and RevCount FLASH parameters for proper operation. We ship Pioneer
3-AT’s with the tires inflated to 23 psi each.
B ATTERIES AND P OWER
Pioneer 3 robots contain p to three hot-swappable 12V sealed lead-acid batteries, accessible thro gh a hinged and
latched rear door. We provide a s ction c p tool to help grab and slide each battery o t of its bay. Spring contacts
inside the robot make contact with the battery terminal tabs when inserted.
Warning: if any spring contacts do not make f ll contact with the battery terminal tabs, then robot r ntime will be
red ced, and the other batteries in the robot are at risk of being over-charged d ring recharging.
Note: Batteries have a significant impact on the balance and operation of yo r robot. Under most conditions, we
recommend operating with three batteries. Otherwise, a single battery sho ld be mo nted in the center, or two
batteries inserted on each side of the battery container.
Balance the batteries in your robot.
Battery Indicators and Low Voltage Conditions
The User Control Panel contains a LED labeled BATTERY that indicates c rrent battery voltage. Approximately 12.5
volts and above, the LED glows bright green. As the available battery voltage drops as it is sed, the LED t rns
progressively orange and then red at approximately 11.5 volts, the lowest recommended level of discharge.
User Control Panel’s b zzer, if active (see the ARCOS SoundTog client command and FLASH parameter), will so nd a
repetitive alarm if the battery voltage drops consistently below the LowBattery parameter (defa lt 11.5 V DC) level. If
the battery voltage drops below the ShutdownVolts parameter (defa lt 11 V DC) the microcontroller a tomatically
sh ts down any active client connection. Low available battery voltage may also also ca se accessory devices
incl ding the optional onboard PC to sh t down.
Recharging
Typical battery recharge time sing the recommended accessory charger varies according to the discharge state; it is
ro ghly eq al to three ho rs per volt per battery. The Power C be accessory allows sim ltaneo s recharge of three
swappable batteries o tside the robot.
With the high-speed (4A maxim m c rrent) charger, recharge time is greatly red ced. It also s pplies s fficient c rrent
to contin o sly operate the robot and onboard accessories, s ch as the onboard PC and radios. B t with the higher-
c rrent charger, care m st be taken to charge at least two batteries at once. A single battery may overcharge and
thereby damage both itself and the robot.
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A ribbed-tread tire is available optionally. Contact MobileRobots sales for details.

10
All o r recommended chargers are specifically designed for safe lead-acid battery recharging. Indicators on the
mod le’s face show fast-charge mode (typically an orange LED) in which the discharged batteries are given the maximal
c rrent, and trickle mode (green LED indicator), which the batteries are given only eno gh c rrent to remain at f ll
charge.
S AFETY ARCOS W ATCHDOGS
ARCOS contains a comm nications WatchDog that will halt the robot’s motion if comm nications between a PC client
and the robot server are disr pted for a set time interval. The robot will a tomatically res me activity, incl ding motion,
as soon as comm nications are restored.
ARCOS also contains a stall monitor. If the drive exerts a PWM drive signal that eq als or exceeds a config rable level
( StallVal ) and the wheels fail to t rn, motor power is c t off for a config rable amo nt of time ( StallWait ). ARCOS
also notifies the client which motor is stalled. When the StallWait time elapses, motor power a tomatically switches
back on and motion contin es nder client control.
Yo may reconfig re the vario s FLASH-based parameter val es to s it yo r application. See Chapter 7, Updating &
Reconfiguring ARCOS, for details.

11
Figure 7. Pioneer 3 bumpers and
associated STALL bits
Chapter 3 Accessories
Pioneer 3 robots have many accessory options. For convenience, we incl de a description of the more commonly
integrated accessories in this doc ment. Please also refer to the detailed doc ments that come with the accessory.
J OYSTICK AND J OYDRIVE M ODE
Altho gh not all models come standard with an external joystick connector, yo r Pioneer 3 robot’s microcontroller has a
joystick port and ARCOS contains a JoyDrive server for man al operation.
Start driving yo r robot with a joystick any time when it is not connected with a client software program. Simply pl g it
into the joystick port and press the “fire” b tton to engage the motors.
To drive yo r robot with a joystick while it is connected with an ARIA client (overrides client-based drive commands for
man al operation), yo m st have the client software send the ARCOS command #47 with an integer arg ment of one
to enable the ARCOS joystick servers. Have yo r client send the ARCOS JOYDRIVE command #47 with an integer
arg ment of zero to disable the joystick drive override.
The joystick’s fire b tton acts as the “deadman”—press it to start driving; release it to stop the robot’s motors. The
robot sho ld drive forward and reverse, and t rn left or right in response and at speeds relative to the joystick’s
position.
While driving forward, pull back on the joystick into full-reverse to decelerate faster than
normal.
When not connected with a client control program, releasing the joystick fire b tton stops the robot. However when
connected with a client, the client program res mes a tomatic operation of yo r robot’s drive system. So, for example,
yo r robot may speed p or slow down and t rn, depending on the actions of yo r client program.
Yo may adj st the maxim m translation and rotation speeds and even disable JoyDrive mode, thro gh special ARCOS
FLASH config ration parameters. See Chapter 7, Updating & Reconfiguring ARCOS, for details.
B UMPERS
B mp rings fore and aft provide contact sensing for when other sensing has failed to detect an obstacle. The accessory
rings also are segmented for contact positioning.
Electronically and programmatically, the b mpers trigger digital events which are reflected in the STALL val es of the
standard server-information packet that ARCOS a tomatically sends to a connected client. Yo r client also may req est
a special IOpac server information packet that contains additional, more-detailed b mper, stall, and other I/O related
information.
Your robot may not move if you unplug one or both
bumpers.
ARCOS itself monitors and responds to protection triggers. For
example, ARCOS’ bumpStall server triggers a stall in the robot
whenever one or more b mper segments get triggered while the robot
is moving in the same direction (front forward or rear reverse). Please
cons lt the Appendix A for interface details and the chapters on
ARCOS, partic larly the section which describes the contents of the
IOpac server information packet, later in this man al for config ration
and programming details.

12
A UTOMATED R ECHARGING A CCESSORY
The Pioneer 3-DX a tomated recharging accessory
5
is both a man al and an a tomated mechanism. Onboard
controls, triggered either by the DEPLOY CHARGER b tton near the man al CHARGE port or by ARCOS-mediated client
commands, deploy act ated contacts on the bottom of the robot, which in t rn seat onto the power platform. Then,
when activated by an IR-based, niq e freq ency-mod lated signal from the robot, the power platform delivers p to 17
VDC @ 11.5 A to its plates.
Manual Operation (Robot Power OFF)
With MAIN POWER off, place the robot over the power platform so that its charging contacts are perpendic lar to and,
when deployed, contact the charger plates. Note that no charging power is applied to the plates on the platform; only
low signal (5VDC @ <300mA) power for the IR detectors.
Press and hold the DEPLOY CHARGER b tton to man ally deploy the power-contact mechanism on the bottom of the
robot. Hold for a few seconds, b t not more than 10 seconds. Charging is activated by positive contact with the power
platform. In that case, the charge lamp on the power nit will light and the robot's contacts will remain deployed when
yo release the DEPLOY CHARGER b tton. Otherwise, the mechanism will retract. In that case, re-position the robot
and try again.
The robot's power-contact mechanism a tomatically retracts if yo press the DEPLOY CHARGER b tton while charging, if
yo move the robot on the power platform and lose positive charging contact, or if yo remove power from the power
nit. In all cases, charging power is removed immediately from the power platform when not actively engaged by the
robot.
Manual Operation (Robot Power and Systems ON)
Beca se the a tomated recharging system’s integrated circ itry actively adj sts to system loads, it can r n yo r robot's
onboard systems while properly and optimally recharging its batteries. And beca se the charging mechanism may be
operated independently of yo r robot's systems power, yo may start p and sh t down yo r robot and its onboard
systems witho t dist rbing the battery charging cycle, if engaged.
For example, with MAIN POWER on, se JoyDrive mode to position the robot onto the power platform. Then man ally
deploy the power-contact mechanism as described in the section above. Thereafter, switch MAIN POWER off, or
conversely, start p and sh t down other onboard systems, incl ding the PC, camera, laser and other accessories, to
proceed with development work witho t dist rbing battery recharging.
The same conditions apply to remove power and retract the robot's power-contact mechanism with the robot’s MAIN
POWER on as well as off. Since the ARCOS microcontroller always is active while the robot’s power is on, yo also may
connect and disconnect a client program, r n in maintenance mode, or engage JoyDrive mode. However, engaging the
motors, s ch as when yo press the “fire” b tton on the joystick, immediately and a tomatically removes charging
power and retracts the power-contact mechanism. And the mechanism will not activate man ally via the DEPLOY
CHARGER b tton ntil yo disengage the motors.
R ADIO C ONTROLS AND A CCESSORIES
All Pioneer platforms are servers in a client-server architect re. Yo s pply the client software to r n yo r intelligent
mobile-robot applications. The client can r n on either an onboard piggy-back laptop or embedded PC, or an off-board
PC connected thro gh radio modems or wireless serial Ethernet. In all cases, that client PC m st connect to the
internal HOST or User Control Panel SERIAL port in order for the robot and yo r software to work.
5
The power-contact mechanism and onboard power conditioning circ itry can be retrofitted to all Pioneer 3 and some
Pioneer 2 and Performance PeopleBot robots. All req ire ret rn to the factory.