Robotnik SUMMIT XL User manual
SUMMITXL
MOBILEPLATFORM
SYSTEMELEMENTS
MAINTENANCEMANUAL
RBTNKDOC160609A
RobotnikAutomationSLL,Spain
RBTNKDOC160609A
SystemElementsandMaintenanceManual
SUMMITXLmobileplatform
Contents
1.Introduction
2.ExternalElements
2.1Motorwheels
2.2MotorDrivers
2.3ControlPanel
2.4AxisCamera(optional)
2.5HokuyoLaserRangeFinder(optional)
3.InternalElements
3.1EmbeddedPC
3.2WirelessRouter
3.3DC/DC12VDC&5VDC
3.4Terminals&Fuses
3.4.1Initialsetupofthefuses
3.5FPUPixhawk(optional)
4.ManualControls
4.1DualShockcontroller
5.BatteryandCharger
5.1LiFePO4batterypack
5.1.1LiFePO4Cell
5.1.2Protectioncircuitmodule
5.2LiFePO4SmartCharger
6.CommunicationDiagram
7.MaintenanceSummary
8.BasicDrawings
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1.Introduction
This Manual describes the main parts of the SUMMIT XL mobile robot, as well as how
are they assembled. Every main piece includes a little description of the mechanical
component that composes it, emphasizing the elements that need a special periodical
controlandmaintenance.
The location and maintenance of other non mechanical components is also described
below.
Finally, a summary of the basic drawings of the vehicle and the main components has
beenincluded.
2.ExternalElements
Thenextfiguresshowthemainpartsoftherobot:
Figure1–MainpartsofSUMMITXLrobot
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Figure2–MainpartsofSUMMITXLrobot,rearview
Themainpartsthatformtherobotare:
Housing:
It is made of fiber glass and holds the upper and rear covers. The
electricalcomponentsareplacedinside.Onlythebatteryisoutside.
Upper Covers: Can be removed to access to the interior of the robot where some of
thecontrolcomponentslikethecontrolcomputerareplaced.
RearCover:Holdsthecontrolpanel,buttonsandthewirelessantennas.
Motor wheels: Four motor wheels 250W brushless motor with Hall Effect sensor
andareductiongearboxinsidethealuminumwheel.
Battery:24VLiFePO4battery(8x3.2V15Ahcells).
Shocks:Fourstrongshockabsorbers.
(optional)PTZcameras
protectedbyreplaceabledomesandsensors.
Emergency Stop, Front and Rear Bumper disable the drivers stopping the robot if
activated.Caution:thereisnorearmbutton.
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2.1Motorwheels
Figure3–Motorwheels
The robot has 4 motor wheels with the same configuration. Each wheel is composed by
a motor block and a detachable wheel. The motor block has a 250W 8 poles brushless
motor with Hall Effect sensor and a reduction gear box, all hold by an aluminum cover.
These kinds of motors have a much longer life expectancy and a higher efficiency than
brushedmotors.
This kind of rubber tire is specially made for Robotnik, so contact us if you need to
replace them. It has a width of 145mm and a diameter of 235mm. The motor block
diameter is 100mm. It is recommended that no weight rests on the wheels for a very
longtimewhenstoppedtoavoidflattening.
The cable must be kept in good condition, and protected if the external cover is
damaged. There are three 24V power wires, two 5VDC power and three Hall Effect
signals.Iftheyareshortcircuit,themotorandthedrivercanbedamaged.
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2.2MotorDrivers
Figure4–MotorDriver
The motor drivers are four DZCANTE 020L080 with a MC1DZC connection board on
top.
The drivers are programmed at Robotnik with specific a settings for each motor. The
serial identifier is the default one (63), but each driver has its own CAN bus identifier (1,
2, 3 and 4). DO NOT change them from one motor to another. To reduce power
consumption,ifthevelocityiszero,onlytherearwheelsbrake,thefrontonesarefree.
The computer sends CAN messages to move the robot, and they are different from the
left side (1 & 2) and right side (3 & 4). Driver 1 is the only one with the Can bus resistor
installed.
There are several analog and digital input/outputs available in each driver, check driver
datasheetformoreinformation.
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2.3ControlPanel
Therobotpresentsinitsbackcoverseveralbuttons,indicatorsandconnectors:
Figure5Controlpanel
EMERGENCY STOP will disable the drivers and stop the robot. CAUTION
there is no rearm button, so the robot will keep moving when the Emergency
Stopisreleased.
General ON/OFF key (S1): cuts the power of the whole robot. It has a green
lightindicator.
CPUPOWERblueindicator/switch:turnsonandoffthecomputer
12VDC:intendedtopowerexternaldevicesandprotectedwithfuse
CHARGER:toconnecttheprovidedbatterycharger
TwofreeUSB2.0ports
Ethernetport(bydefaultaWANport)
WiFiantennas
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2.4AxisCamera(optional)
Figure6–AxisPTZcamera
CAMERA
AXISP5514PTZDomeNetworkCamera
Imagesensor
1/2.3”progressivescanCMOS
Lens
3.8–42.9mm,F1.4–2.1Horizontalangleofview:59.2°–5.2°
Autofocus,Autoiris
Minimum
illumination
Color:0.7luxat30IREF1.4
B/W:0.08luxat30IREF1.4
Pan/tilt/zoom
Eflip,Autoflip,100presetpositionsPan:360°(withautoflip),
1.8°–100°/sTilt:180°,1.8°–100°/s12xopticalzoom,10xdigital
zoom,total120xzoomLimitedguardtour,Controlqueue
VideoResolution
1280x720to320x180
Compression
H.264(MPEG4Part10/AVC)Baseline,MainandHighProfiles
MotionJPEG
Connectors
RJ4510BASET/100BASETXPoEMulticonnector(cablenot
included)forAC/DCpower,4configurablealarminputs/outputs,
micin,linemonoinput,linemonooutputtoactivespeaker.
Storage
SupportforSD/SDHC/SDXCcard(notincluded)Supportfor
recordingtodedicatednetworkattachedstorage(NAS)
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Table1–AXISP5514features
Thecameraispoweredfromthe12VDCDC/DCbutcandirectlypoweredwithanAxis
HighPoweroverEthernet(HighPoE)midspan,allowingAxisnetworkvideoproducts
toreceivedataandpoweroverthesameEthernetcable.
2.5HokuyoLaserRangeFinder(optional)
The robot can be equipped with several models with our specific adaptors. Below you
canseethelaserrangefindersusuallymounted.
URG04LXUG01
● Lightweight:160g
● WideAngle:240º
● Range:5600mm.
● Accuracy(±30mm).*
● Distanceandangledataoutputwithhigh
angularresolution(0.352°).
● Lowpowerconsumption:2.5W
UTM30LX
● OutdoorEnvironment
● Lightweight:370g
● WideAngle:270°
● LongDetectionrange:30m
● Compact:W60xD60xH87mm
UST10LX
● Supplyvoltage10～30V
● Measurementdistance10m/20m
● Fieldofview270°
● InterfaceEthernet
Table2–LaserRangeFinders
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3.InternalElements
The following figure shows other nonmechanical components to be in consideration for
maintenancetasks.
Figure7–SummitXLinsideview
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3.1EmbeddedPC
The main board is a Mitac PD10BI MT with Intel Bay Trail J1900 Quad core processor
and miniITX form factor. It can be easily replaced by other boards if needed. The
computer is completed with 4GB of RAM and a 2.5” mSATA HDD mounted on the
board.
Figure8–PCboard
FormFactor
LowprofileMiniITX(20millimeters[0.79inches]x170.18millimeters[6.7
inches]x170.18millimeters[6.7inches])
Processor
Chipset
IntelBayTrailJ1900Processorwithintegratedgraphics(*Remark:
CompatiblewithJ1800andJ2900)
Memory
● SupportfordualchannelDDR3L1333/1600(runsat1333MHz)
SODIMMs
● Supportforupto8GBofsystemmemoryonasingleSODIMM(or4GB
eachby2SODIMM)
● 204pinDDR3LSODIMM
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Graphics
● Integratedgraphics:
● Digitaldisplays(HDOut)
● Analogdisplays(VGA)
● Internalflatpaneldisplays:
● LVDS
● EmbeddedDisplayPort*eDP*
● ExternalgraphicssupportviaaPCIExpress1.0ax1graphicsaddincard
connector
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Audio
● 2+2ChannelHighDefinitionAudio(HDAudio)usingaRealtek*
ALC888Saudiocodecsupporting:
● Analogstereolineout(backpaneljack)
● Inchassisstereospeakerssupport(3W/3Ωviaaninternalheader)
● S/PDIFdigitalaudiooutput(internalheader)
● DMICdigitalmicrophoneinput(internalheader)
● Analoglinein(backpaneljack)
● FrontpanelHDAudio/AC’97headphones/micsupport(internalheader)
● 8channel(7.1)HDAudioviatheHDOutinterface
Expansion
Capability
● PCIExpress1.0ax1addincardconnectorOption:PCI
Express1.0ax4addincardconnectorby2lanes
1
● PCIExpressFull/HalfMiniCardslot
1
● PCIExpressHalfMiniCardslot
1
Peripheral
Interfaces
● USB2.0frontpanelports
5
● USB3.0backpanelconnectors(blue)
2
● USB2.0highcurrent/fastchargingports(Yellow)
2
● SATA3.0Gb/s
2
● SATA3.0Gb/sport(multiplexedwithanmSATAport,
routedtothePCIExpressFull/HalfMiniCardslot)
1
LegacyI/O
● LegacyI/OController(NCT6683D)thatprovides:
● Hardwaremanagementsupport
● Serialportsonboardheaders
2
● Parallelportviaanonboardheader
1
LANSupport
RealtekRTL8111GCGGigabit(10/100/1000Mb/s)EthernetLANcontroller
includinganRJ45backpanelconnectorwithintegratedstatusLEDs
BIOS
● BIOSresidentinaSerialPeripheralInterface(SPI)Flashdevice
● SupportforAdvancedConfigurationandPowerInterface(ACPI),and
SystemManagementBIOS(SMBIOS)
Hardware
Management
NuvotonNCT6683Dbasedsubsystem,including:
● Voltagesensetodetectoutofrangepowersupplyvoltages
● Thermalsensetodetectoutofrangethermalvalues
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● 3pinsystemfanheaderwithspeedcontrol
Power
Requirement
● DCconnectivityviabackpanelDCjack(2.5mm/ID,5.5mm/OD)
● Internal2pinpowerconnector
Environment
● OperatingTemperature:0°Cto+60°C
● StorageTemperature:20°Cto+70°C
Safety
● CE
● FCC
● UL
Table3–MITACPD10BIfeatures
The embedded Linux PC is located in the middle of the robot, under the Edimax
wirelessrouter.ItsmaintenanceisequivalenttoastandardPCstation.
The main problem can be due to the accumulation of dust in the internal components,
so it acts as thermal insulator. The heat generated by the components cannot be well
dissipatedbecauseitistrappedinthedustlayer.
The oil and grease particles contained in the environmental air mix with the dust,
creating thus a big insulation layer that reflexes the heat to other components. This
effect causes a reduction of the system useful life. On the other hand, the dust
contain conductive particles that can generate shortcircuits throughout the circuit
boardsortheperipheralcards.
The best way to extend the life of the equipment and make it free of reparations for
manyyearsistocleanitandremovethedustfrequently.
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3.2WirelessRouter
Figure9–EDIMAXBR6428nC
Thehuge9dBantennasarereplacedwithsmaller5dBantennas.
TechnicalSpecification
●WirelessDataTransferRate:802.11n:300Mbps
●Supportsrouter,accesspoint&rangeextendermodes
●Porttriggeringforspecialapplications
●DDNSandSIP•Guestnetwork
●VirtualserverandDMZhosting
●MAC/IPfilterandURLblocking
●Staticrouting
●UPnParchitecture
●VPNpassthrough(IPSec/PPTP)
●WiFischedulecontrol
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3.3DC/DC12VDC&5VDC
There is a 150W 12V DC/DC to provide a stable power supply for the electronic
elements(PC,Axiscamera,externalpower,…).
Figure1012VDC/DC
There is a small 5V DC/DC which powers the AGVCTRLV2 (optional) and the motor
drivers.ItislocatedundertheDINrail.
Figure115VDC/DC
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3.4Terminals&Fuses
Figure12Fuses
AtthepictureyoucanseetheDINrailthefollowingfuses:
●FuseF0:15A(blue)Backpanelchargeconnector&switchS1.
●FuseF1:40A(orange)Mainfuse,connectedtobatterydirectly.
●FuseF2:15A(blue)driver1.
●FuseF3:15A(blue)driver2.
●FuseF4:15A(blue)driver3.
●FuseF5:15A(blue)driver4.
●FuseF6:10A(red)12VDC/DCconverterINPUT.
●FuseF7:7.5A(brown)12VDC/DCconverterOUTPUT(+12V).
●FuseF8:2A(grey)Backpanel12Voutput(fromDC/DCconverter).
●FuseF9:2A(grey)5VDC/DCconverterOUTPUT(+5V).
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3.4.1Initialsetupofthefuses
After unpacking the robot, you have to insert fuses from battery and back panel in the
fuseholderbeforeturningontherobot.
Important: Electrical damage danger. Check the power ON/OFF is in OFF position
beforepluganyfuseinthefuseholder.
Figure13.PowerbuttoninOFFposition
● Insert15AfuseinthefuseholderlabelledwithF0.
● Insert40AfuseinthefuseholderlabelledwithF1.
Seeelectricdrawingsmanualfordetailedinformation.
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3.5FPUPixhawk(optional)
The Pixhawk FPU is used as an IMU (Inertial Measurement Unit) to better estimate the
robotposition,usingthePixhawkintegratedgyroscopeandaccelerometers.
Figure15PixhawkFCU
KeyFeatures:
● 168MHz/252MIPSCortexM4F
● 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary,
highpowercompatible)
● Abundantconnectivityoptionsforadditionalperipherals(UART,I2C,CAN)
● Integrated backup system for inflight recovery and manual override with
dedicatedprocessorandstandalonepowersupply(fixedwinguse)
● Backup system integrates mixing, providing consistent autopilot and manual
overridemixingmodes(fixedwinguse)
● Redundantpowersupplyinputsandautomaticfailover
● Externalsafetyswitch
● MulticolorLEDmainvisualindicator
● Highpower,multitonepiezoaudioindicator
● microSDcardforhighrateloggingoverextendedperiodsoftime
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Pixhawk is connected to the PC using a FTDI_USBtoUART cable on the TELEM2
port. The following table shows the mapping between Pixhawk TELEM2 pins and FTDI
pinsorwirecolors.
TELEM2
FTDI
1
+5V(red)
NotUsed
2
Tx(out)
5
FTDIRX(yellow)(in)
3
Rx(in)
4
FTDITX(orange)(out)
4
CTS(in)
6
FTDIRTS(green)(out)
5
RTS(out)
2
FTDICTS(brown)(in)
6
GND
1
FTDIGND(black)
Table4FTDI_USBtoUARTpinout
Moreinfoinhttps://pixhawk.org/modules/pixhawk
4.ManualControls
ThegamepadfunctionsarefullyexplainedintheSystemStartupManual.
4.1DualShockcontroller
The Gamepad used for the manual movements of the robot SUMMITXL is a Bluetooth
Joystick. The receiver is located inside the robot and connected to one USB port of the
computer.
The two joysticks are used for direction, traction and elevation and there are important
controls like the speed level buttons that select between five speed ranges: very slow,
slow,medium,high,andveryhigh.
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Figure16–SonyDualShockcontroller
5.BatteryandCharger
The robot receives the power supply from a LiFePO4 battery pack. It is composed of
eight 3.2V LiFePO4 cells and a protection circuit module. With this set of batteries the
robot is able to operate up to 5 hours (up to 20 hours in lab environment), depending
ontherobotmovements.
The robot circuit is powered when the general switch S1 is ON. The control DC/DC
converter, that makes power to the different devices of control, is powered at the same
time,andalsotheexternal12Vpowerconnector.
The batteries are connected to the robot through the fuses. For charging the batteries
there is a connector at the back panel of the robot where the charger can be
connected. It is a direct connection, so the general ON/OFF switch doesn’t affect the
charging. It is possible to charge the robot and keep working at the same time without
anyproblem.
Full charging time is around 4560 minutes for the supplied charger. Do not use other
chargerswithoutcheckingbatteryspecifications.
Tochargetherobot,youmustfollowthisinstructionsstrictly:
Step 1. Connect the charger to the back panel of the robot (without being connected
tothegeneralpowersupply).
Step2.Connectthechargertothegeneralpowersupply.
Step3.Turnonthechargerandcompleteonechargingcycle.
IMPORTANT: When the charging process is finished, disconnect the charger from the
robot and from the general power supply. Do not let the robot unattended during
chargingprocess.
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