This part is a basic introduction to the RANGER, mobile robot chassis. After reading this part, users and developers can have an overall understanding about it. As shown in Figure 2.1 below, it is an overview of the RANGER.
Figure 2.1 Overview of the RANGER
The RANGER is based on a modular and intelligent design concept. It adopts a composite design of pneumatic tires and independent suspension on the power module, and has a powerful hub motor, which makes the RANGER swift passing ability and ground adaptability. It can move flexibly on different ground. The hub motor does not require complicated transmission design, making the RANGER smaller and more flexible. An open electrical interface and communication interface are configured at the rear of the RANGER, which is convenient for users to carry out secondary development. The electrical interface adopts aviation waterproof connectors, which is not only conducive to the expansion and use, but also allows the RANGER to be used in some harsh environments. A standard aluminum extension bracket is installed on the RANGER, which is convenient for users to carry external equipment.
The user can check the status of the RANGER through its CAN message. Please refer to Table 2.1 for specific status.
Table 2.1 Status Description Table for the RANGER
| Status | Description | | --- | --- | | Voltage | Current battery voltage and capacity information can be displayed via the remote control displays vol and batt | | Low Voltage Warning | When the SOC (State of Charge) of the battery is lower than 15% through BMS feedback, the front and rear lights of the RANGER will flash as a reminder. When the battery power is detected lower than 10%, the 4WD chassis will actively cut off the power supply for external equipment and driver to protect the battery. At this time, the chassis will not move and accept external command control. | | Detailed Status Information | Check by CAN message |
Figure 2.2 Back View of the RANGER
The RANGER has a circular connector for expansion at its rear. The interface can be used to provide power for external equipment (the load current cannot exceed 15 A, and the voltage range is 46~50 V) and transfer information through its CAN communication interface. Its pins are defined in the figure below. Please note that its power supply is subject to internal control. When the battery voltage is lower than the safe level, it will actively cut off the power supply. Therefore, users need to pay attention to the low voltage alarm of the RANGER before reaching the critical voltage. Do not forget to charge the RANGER after use.
| Pin Number | Pin Type | Function and Definition | Note | | --- | --- | --- | --- | | 1 | Power supply | VCC | Positive terminal. The voltage range is 46~50 V The load current cannot exceed 15 A. | | 2 | Power supply | GND | Negative terminal | | 3 | CAN | CAN_H | CAN Hi (High) | | 4 | CAN | CAN_L | CAN Lo (Low) |
Figure 2.4 Introduction of the remote control
As shown in the figure above, the functions of the buttons are defined as follows: