XAG R150 User manual

User Manual
EN
Version 1.0
R150
Unmanned Ground Vehicle (Spray Version)

To Users
Hi there. Thank you for choosing XAG products.
For safety reasons and the best experience possible, XAG recommends that you read the User Manual
and Disclaimer contained in this document before attempting to use the R150 Unmanned Ground
Vehicle.
Contact Us
If you have any questions about this document, please contact our Technical Support team via email:
[email protected]om
Click to View
See the Contents below for a quick overview of this document. While browsing the digital
version, clicking on each title will redirect you to the corresponding page.

Contents
Product Pro󽗉le 1
List of Items 1
About the R150 Unmanned Ground Vehicle 2
Structure 2
Emergency Stop 3
Vehicle Assembly 4
Assemble jet sprayer 4
Wiring guideline for jet sprayer control module 5
Install RTK antennas 6
Adjust wheel arm 7
Adjust front wheel arms alone 7
Adjust both front and rear wheel arms 7
Use R150 8
Activate 8
Download XAG AGRI App 10
Connect to ACS2 ControlStick 10
Power ON/OFF 10
Connect to XAG AGRI App 11
ControlStick Buttons 12
Autonomous/remote control switch 12
Unlock/Unpark 12
Motion control 12
Speed settings 13
Smart mode 13
Cruise control 13
Smart Battery Preparation 14
Install 14
Battery ON/OFF 14

Button/indicator light 14
Checking Battery Level 14
Checking Battery Status 15
Battery Use Instructions 15
Charging Battery 16
Charger Status Indicators 16
Charger Use Instructions 17
Pairing 18
Firmware Update 21
Update ControlStick 21
Update vehicle 24
Connecting to Cloud RTK Base 27
Calibrating Pump 29
Sprayer Test 30
Horizontal control 31
Vertical control 31
Spray settings 32
Operation Mode 33
Waypoint mode 33
Shuttle mode 56
Follow-me mode 58
Technical Speci󽗉cations 59
Safety Instructions 60
Disclaimer 61
Warning 62

www.xa.com/en 1
List of Items
Please check carefully to ensure that this package contains all the items listed below. Contact your
dealer if there are any missing items.
Vehicle
×1
Jet Sprayer with Pan Tilt (Left)
×1
Jet Sprayer with Pan Tilt (Right)
×1
Tool Kit
×1
ACS2 ControlStick + RTK
×1
Product Pro󽗉le
XAG R150 Agricultural Unmanned Vehicle (R150) is intended for next generation farming with concise
modular design, robust on-board carrier, powerful scalability， and multiple operation modes. When
equipped with the XAG JetSprayer ™ System, XIoT ™ Agriculture IoT System， or other smart agriculture
options, the R150 can o󽗈er a wide range of services from precision crop protection, 󽗉eld scouting to
on-farm material delivery. By delivering industry-leading autonomous solutions that lead to better
operating performance and higher operating e󽗋ciency, XAG is committed to moving beyond business
success alone and bring bene󽗉ts to both the environment and society.

www.xa.com/en2
About the R150 Unmanned Ground Vehicle
Structure
Front Chassis Guard
Liquid Supply Valve
Liquid Discharge Valve
Chain
Motor
Motor Drive
Rear Chassis Guard
Nameplate
Roll Cage
Front Bumper
RTK Antenna
Wheel Arm Cover
2.4/5.8GHz
Dual-frequency
Antenna
Tire
Battery Hatch
Vehicle Frame
Wheel Arm
Rear Bumper
Liquid Container
Jet Sprayer
Smart Pan Tilt
Control Box
Battery Control Box
Battery Hatch Cover
Warning Light
Emergency Stop
Figure 1: Vehicle Module Structure
Figure 2: Frame Module Structure

www.xa.com/en 3
Sprayer Connector
Sprayer Holder
Jet Sprayer Control Module
Peristaltic Pump
Vibration Damper
Figure 3: Module Structure in Liquid Pump Control Box
Emergency Stop
Each time before you turn on the power, make sure the red emergency stop button is not pressed; in
case of emergency while driving, press the emergency stop button, and the braking device will cut o󽗈
the power and stop the vehicle. Gently rotate the emergency stop button and it will pop up.
Pressing the emergency stop button only cuts o󽗈 the power supply to the vehicle motor, not the jet
sprayers. Before you attempt any cable work on the sprayers, be sure to 󽗉rst power down the smart
battery.
Note

www.xa.com/en4
Inspect underneath the sprayers to distinguish between the left unit and the right one, as shown in
the 󽗉gure below: the arrow points to the vehicle front, L stands for left, and R stands for right.
Note
Vehicle Assembly
Assemble jet sprayer
Fix the left and right jet sprayers on the vehicle and tighten the 󽗉xing screws (M8*20).

www.xa.com/en 5
Wiring guideline for jet sprayer control module
After the jet sprayers are 󽗉xed, plug the sprayer connection cable into the sprayer connector on the
water pump control box. See the 󽗉gure below for wiring instructions.
Atomization motor
Atomization motor
Pneumatic motor
Pneumatic motor
Pan tilt CAN
CAN of pan tilt
Pan tilt power
Power of pan tilt
Liquid container
power and CAN
Reserved power
and CAN
Wiring of Jet Sprayer Control Module
1. Do not assemble or disassemble any modules while the device is powered on.
2. Turn on the power supply only after all modules have been installed.
Note
Vehicle Front
Vehicle Front
L
AF GM-DC LS-CAN2
CF
AFGM-DC
CF
CAN1
GM-CAN2CF
GM-CAN2

www.xa.com/en6
After the connection cable is plugged in, please use zip ties to affix the cable to the control box
holder to avoid cable loosening or wear caused by bumps while the vehicle is in motion.
Note
Install RTK antennas
Fix the left and right RTK antenna on the vehicle and tighten the 󽗉xing screws (M3*8*6).