TRACER

Introduction

TRACER is designed as a multi-purpose UGV with different application scenarios considered: modular design; flexible connectivity; powerful motor system capable of high payload. The combination of two two-wheel differential chassis and hub motor can make it move flexible indoor.Additional components such as stereo camera, laser radar, GPS, IMU and robotic manipulator can be optionally installed on TRACER for advanced navigation and computer vision applications. TRACER is frequently used for autonomous driving education and research, indoor and outdoor security patrolling and transportation, to name a few only.

Package List

1 * TRACER
1 * Battery Charger, AC 220V
1 * USB to Serial Cable
1 * Remote Control Transmitter (Optional)
1 * Manual

Max Playloads	100kg
Max. Speed	6km/h
Dimension	685*570*155mm
Gross Weight	28~30kg
Min. Turning Radius	0m
Obstacle Surmounting	1cm
Slope Climbing	8°
Max. Distance	–km

Precautions

This section includes some precautions that should be paid attention to for TRACER use and development.

1. Battery
1.1 The battery supplied with TRACER is not fully charged in the factory setting, but its specific power capacity can be displayed on the voltmeter at rear end of TRACER chassis or read via CAN bus communication interface. The battery recharging can be stopped when the green LED on the charger turns green. Note that if you keep the charger connected after the green LED gets on, the charger will continue to charge the battery with about 0.1A current for about 30 minutes more to get the battery fully charged.
1.2 Please do not charge the battery after its power has been depleted, and please charge the battery in time when low battery level alarm is on.
1.3 Static storage conditions: The best temperature for battery storage is -20℃ to 60℃; in case of storage for no use, the battery must be recharged and discharged once about every 2 months, and then stored in full voltage state. Please do not put the battery in fire or heat up the battery, and please do not store the battery in high-temperature environment;
1.4 Charging: The battery must be charged with a dedicated lithium battery charger; lithium-ion batteries cannot be charged below 0°C (32°F) and modifying or replacing the original batteries are strictly prohibited.

2. Operational Environment
2.1 The operating temperature of TRACER outdoors is -10℃ to 45℃; please do not use it below -10℃ and above 45℃ outdoors.
2.2 The operating temperature of TRACER indoors is 0℃ to 42℃; please do not use it below 0℃ and above 42℃ indoors.
2.3 The requirements for relative humidity in the use environment of SCOUT MINI are: maximum 80%, minimum 30%.
2.4 Please do not use it in the environment with corrosive and flammable gases or closed to combustible substances.
2.5 Do not place it near heaters or heating elements such as large coiled resistors, etc.
2.6 Except for specially customized version (IP protection class customized), SCOUT MINI is not water proof, thus please do not use it in rainy, snowy or water-accumulated environment.
2.7 The elevation of recommended use environment should not exceed 1,000m.
2.8 The temperature difference between day and night of recommended use environment should not exceed 25℃.

3. Electrical / Extension Cords
3.1 For the power supply at rear end, the current should not exceed 5A and the total power should not exceed 120W;
3.2 When the system detects that the battery voltage is lower than the safe voltage class, external power supply extensions will be actively switched to. Therefore, users are suggested to notice if external extensions involve the storage of important data and have no power-off protection.

4. Other Notes
4.1 When handling and setting up, please do not fall off or place the vehicle upside down.
4.2 For non-professionals, please do not disassemble the vehicle without permission.

FAQ

1. TRACER is started up correctly, but why cannot the RC transmitter control the vehicle body to move?

First, check whether the drive power supply is in normal condition, whether the drive power switch is pressed down and whether E-stop switches are released; then, check whether the control mode selected with the top left mode selection switch on the RC transmitter is correct.

2. TRACER remote control is in normal condition, and the information about chassis status and movement can be received correctly, but when the control frame protocol is issued, why cannot the vehicle body control mode be switched and the chassis respond to the control frame protocol?

Normally, if TRACER can be controlled by a RC transmitter, it means the chassis movement is under proper control; if the chassis feedback frame can be accepted, it means CAN extension link is in normal condition. Please check the CAN control frame sent to see whether the data check is correct and whether the control mode is in command control mode. You can check the status of error flag from the error bit in the chassis status feedback frame.

3. TRACER gives a “beep-beep-beep…” sound in operation, how to deal with this problem?

If TRACER gives this “beep-beep-beep” sound continuously, it means the battery is in the alarm voltage state. Please charge the battery in time. Once other related sound occur, there may be internal errors. You can check related error codes via CAN bus or communicate with related technical personnel.

4. When communication is implemented via CAN bus, the chassis feedback command is issued correctly, but why does not the vehicle respond to the control command?

There is a communication protection mechanism inside TRACER, which means the chassis is provided with timeout protection when processing external CAN control commands. Suppose the vehicle receives one frame of communication protocol, but it does no receive the next frame of control command after 500ms. In this case, it will enter communication protection mode and set the speed to 0. Therefore, commands from upper computer must be issued periodically.

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