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
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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

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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.

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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

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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

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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).

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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

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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).

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Adjust wheel arm
Both front and rear wheel arms can be adjusted. You may change the vehicle's wheelbase or chassis
height by either adjusting the front wheel arms individually or adjusting both front and rear arms col-
lectively. Changes made to the wheelbase can improve the vehicle’s climbing performance.
Adjust front wheel arms alone
Adjust both front and rear wheel arms

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Use R150
Activate
Steps
Visit our User Registration Website at: https://
agri.xaircraft.com/pm/#!/login, register and log
in.
Choose "Me" on the homepage, and then click
"Scan QR" to begin the process of activation.

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Enter your activation code (to be acquired from
your dealer), and click "Con󽗉rm".
Check your account information and click "Bind
Device". Then your device should be activated.

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Connect to ACS2 ControlStick
In order to control the vehicle with ACS2, please 󽗉rst connect the ControlStick to the XAG AGRI App.
Available control mode combinations include:
ACS2 RTK + smartphone
ACS2 vehicle control module + smartphone
Power ON/OFF
When the ControlStick is on/o󽗈, press and hold the Power button for approximately 2 seconds until the
six indicator lights 󽗊ash at the same time.
Release and then press and hold the Power button again for 2 seconds until a voice prompt is heard
from the ControlStick.
Download XAG AGRI App
Before using the R150, please 󽗉rst scan the QR code below to download and install the XAG AGRI App
(Android only. Coming soon on iOS).
Scan QR code
to download/install XAG AGRI App

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Go to WiFi settings on your phone, tap ACS2 Con-
trolStick, and enter the default password.
The default hotspot name is "ACS2_XXX", where
XXX is the serial number marked on the top of
the ControlStick, and the default password is
20070401.
Open the XAG AGRI App and log in to your
account. When the icon on the homepage
lights up, it means the phone and the ControlStick
are successfully connected.
Connect to XAG AGRI App

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ControlStick Buttons
After successful pairing, you may control the vehicle as directed by the following guide.
Autonomous/remote control switch
Motion control
Unlock/Unpark
Press and hold the two buttons on the back of the
ControlStick at the same time to unlock the vehicle,
and press again to lock.
After unlocking the vehicle in manual mode,
press and hold the lower button for 1.5 seconds
to deactivate parking, then the vehicle can be
moved freely.
Press and hold the middle button to switch to
autonomous mode. Press any button to switch
back to remote control mode.
Press the Forward/Backward button ( / ) to
drive the vehicle forward/backward.
Press the Turn Left/Turn Right button ( / ) to
turn the vehicle left and right, respectively.

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Speed settings
Smart mode
Cruise control
Press the button to broadcast the current
speed level (Level 1: 0.4m/s, Level 2: 0.8m/s, Level
3: 1.2m/s).
Press the button to accelerate the vehicle.
Press the button to decelerate the vehicle.
Double click the button to enter/exit follow-me
mode.
Double click the button to enter/exit shuttle
mode.
You have to exit the current mode before
switching to another operating mode.
Press and hold the button until the voice
prompt "Enter cruise control mode" is heard. The
vehicle will begin to drive ahead automatically.
Press the Left/Right button ( ◁ / ▷ ) to move the
vehicle back to its lane in case of deviation.
Press / / or the blank button to exit cruise
control mode.
You need to exit the current mode before
switching to another operating mode.
Left/Right button ( ◁ / ▷ ) only works when the
vehicle is in the cruise control mode.

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Smart Battery Preparation
Install
The R150 comes with the B13860S Smart Battery by default, and can be powered by either one or two
B13860Ses. Open the battery hatch cover and insert the smart battery into the slot. A“ click” should be
heard, which indicates that the battery is in place.
Checking Battery Level
When the battery is OFF, press the power button once to display the battery level.
When the battery is ON, check the indicators to see the battery level.
Button/indicator light
The smart battery has one power button and six indicator lights.
Battery ON/OFF
Press and hold twice the power button to turn the battery on/o󽗈. When the battery is OFF/ON, connect
the vehicle or charger, press and hold the power button for at least 1 second, and release the button
after all battery level indicator lights 󽗊ash at the same time; then press and hold the button for at least
1 second again until a beep is heard from the battery and the status indicator is on. This indicates that
the battery has been powered on/o󽗈 successfully.
Battery Level LED
1 LIGHT FLASH
1 LIGHT ON
2 LIGHTS ON
3 LIHGTS ON
4 LIHGTS ON
5 LIHGTS ON
2 LIGHTS
DOUBLE FLASH Self-locked
Remotely locked
3 LIGHTS
DOUBLE FLASH
Battery is locked due to low power level. Please
contact customer support to unlock the device.
Battery is locked remotely. Please contact customer
support to unlock device.
Status Battery Level
Tampering lock Battery is disabled. Please contact customer support to
unlock device.
4 LIGHTS
DOUBLE FLASH
Do not use smart batteries of di󽗈erent models in the same device.
Note
Fixed: Working
Slow Flash: Low
Temperature
Quick Flash: High
Temperature
Double Flash: Fault
Battery Level Indicators Status Indicator Power Button

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Checking Battery Status
When the battery is ON, check the indicators to see the battery status.
RED LIGHT
ON Normal Normal
RED QUICK
FLASH Overheated Temporarily locked. Prohibited from
charging and usage.
RED SLOW
FLASH Low Temperature
Low temperature triggers charging
protection. Please keep battery
temperature at over 10ºC.
RED DOUBLE
FLASH Battery Malfunction Stop using immediately.
Battery Level LED Status Battery Level
Battery Use Instructions
• Do not plug or unplug the battery when it is turned on, otherwise the power connector may be
damaged.
• Check the battery 󽗉rmware for updates before use. The loss caused by the user’s failure to update
the battery 󽗉rmware in time will be borne by the user.
• The battery should be used between 10℃ and 45℃ (ambient temperature). Overheating (>45℃) may
cause the battery to ignite or explode.
• Do not connect the positive and negative poles of the battery with a wire or other metal objects, to
avoid short circuit.
• Do not immerse the battery in a corrosive liquid. When the battery is placed in clean water for heat
dissipation, please keep the water level between the Max and Min levels. Do not leave the battery in
water for more than 60 minutes. Otherwise, the liquid may 󽗊ow into the battery and cause damage.
• If there is liquid or foreign matter on the battery terminal, wipe it away as soon as possible and keep
it clean. Otherwise it may cause poor contact, resulting in loss of energy or charging failure.
• Please handle with care during use. Do not disassemble it, puncture its case or manually press the
battery, including but not limited to the following: Sitting on the battery, placing heavy objects on the
battery or otherwise putting pressure on the battery.
• Regularly check the battery terminal, plug and other components before use. Do not use alcohol or
other 󽗊ammable agents to clean charging devices. Do not use a damaged charging device.
• When charging, place the battery and charging devices on the 󽗊at ground that is free of 󽗊ammable or
combustible materials. Battery charging shall be watched over to prevent accidents.
• For safety, when charging, a distance of more than 30cm shall be kept between two batteries, or
between a battery and a charger, to avoid the malfunction of the charger or the battery, and even
serious consequences such as 󽗉re due to overheating.
• Before each operation, make sure the battery has 󽗉nished charging; never operate with a full load
when the battery is not fully charged.
• It is strictly forbidden to use batteries other than those provided by XAG, or to dismantle or replace a
battery without authorization. For repairs or replacement, please contact XAG or a designated dealer.
• The user shall bear the responsibility for battery accidents, 󽗊ight failures or other accidents caused by
the use of batteries or components not provided by XAG.
• If a single green light 󽗊ashes after operation, please charge the battery to 40%-60% capacity before
storage. The battery should be recharged and discharged every 90 days to maintain its activity.
• The battery should be stored in a dry environment at a temperature between 10~30℃ . Do not place
the battery in a location that is too damp or has leakages.
• Do not charge the battery in a damp environment. Product damage caused by liquid immersion due
to reasons other than product quality (such as a damaged battery case) is not covered by the warranty.
• It has been tested under controlled experimental conditions to be resistant to splashes and water.

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Charger Status Indicators
Charging by Intelligent Super Charger Charging by Auto Super Charge Station
Charging Battery
While charging, the battery level indicators corresponding to the current battery level will be on, while
the remaining lights will 󽗊ash in sequence, indicating that the battery is charging. Once charging is
complete, the buzzer will beep for 30 seconds. During this time, all battery level indicators will 󽗊ash for
2 minutes before the battery turns o󽗈 automatically.
However, such protective performance becomes less e󽗈ective over time, and may diminish due to
daily wear and tear.
• When the battery is found swollen, leaking, deformed, or damaged, stop using the battery
immediately and contact XAG or your dealer promptly.
• The liquid inside the battery is highly corrosive. If it is inadvertently contacted with your skin or eyes,
rinse with clean water and seek medical advice immediately.
• When disposing of the battery, please follow local laws and regulations. Protect the natural
environment, and do not discard it irresponsibly.
LED
GREEN LIGHT ON
GREEN LIGHT ON
GREEN LIGHT ON
GREEN LIGHT FLASH
GREEN LIGHT FLASH
RED LIGHT ON
RED LIGHT ON
RED LIGHT FLASH
RED LIGHT ON
RED LIGHT FLASH
Status
Normal
Not Grounded
Device Fault
Device Overheated
Description
Normal input
Charging at risk
Temporarily locked.
Prohibited from output.
Temporarily locked.
Prohibited from output.
Idle
No Communication
Charging
Idle
Battery not connected
or communication failed.
Charging
Normal
Irregular
Communication
Battery Overheated
Communication succeeded.
Charging normally.
Communication between
charge port and battery failed.
Battery is overheated.
Status Type
Power Output
Charge Output
Charge Port