MK2 Manual

Vanguard™ MK2
Operating Manual
Allen-Vanguard
Allen-Vanguard
Protecting tomorrow –
through innovation today
Vanguard™ MK2B
Operating Manual
ALLEN-VANGUARD
5459 Canotek Road,
Ottawa, Ontario, K1J 9M3, Canada
Sales Toll Free No. 1 866 747-3590
Sales Tel. No. + 613 747-3590
Sales Fax No. + 613 747-0723
Issue: Version 1
22/02/05
AVA-MKTG-022_C.000
Vanguard™ MK2
Operating Manual
Table of Contents
Section 1.0 Calling for Technical Help Pg 4
1.01 MK2 Overview Pg 5
1.02 Modular Design Pg 6
1.03 Standard Equipment Pg 7
1.04 Standard Features and Capacities Pg 8
1.05 Optional Features PG 9
Section 2.0 Command & Control Unit (CCU) Pg 10
2.01 Interface Overview Pg 11
2.02 Desk top overview Pg 12
2.03 Running on AC power Pg 13
2.04 Running on DC power Pg 14
2.05 Adjusting /muting volume Pg 15
2.06 RF link & battery status Pg 16
2.07 Joystick Set up Pg 17
2.08 Running on Tether Pg 18
2.09 Tether Reel Parts Pg 19
2.10 Charging CCU Pg 20
2.11 Storing the CCU Pg 21
2.12 Restoring the MK2 Software Pg 22
Section 3.0 F1-Drive Function Pg 23
3.01 Attaching Wheel Kit Pg 24
3.02 Attaching Anti-Flip Mount Pg 25
3.03 Driving Tips/Climbing stairs Pg 26
3.04 Removing Tracks Pg 27
3.05 Removing Drive System Pg 28
3.06 Drive Parts List Pg 29
Section 4.0 F2-Turret Function Pg 30
4.01 Removing the Turret Pg 31
4.02 Turret parts list Pg 32
Section 5.0 F3-Elbow Function Pg 33
Section 6.0 F4-Shoulder Function Pg 34
Section 7.0 F5-Arm Function Pg 35
7.01 Removing the Arm Pg 36
7.02 Arm Parts Pg 37
7.03 Deploying the arm Pg 38
Section 8.0 F6-Claw Function Pg 39
8.01 Removing the Claw Pg 40
Section 9.0 F7-Camera Select Function Pg 41
9.01 Camera Settings (brightness, contrast) Pg 42
Section 10.0 F8-Pan & Tilt Function Pg 43
10.01 Removing Pan & Tilt Pg 44
10.02 Pan & Tilt parts list Pg 45
AVA-MKTG-022_C.000
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Vanguard™ MK2
Operating Manual
Table of Contents
Section 11.0 F9-Light, Laser & Photo Functions Pg 46
Section 12.0 T-2 way digital audio Pg 47
12.01 S-Speed, P-Speech Functions Pg 48
Section 13.0 W-Weapons Enable Function Pg 49
Section 14.0 Robot Chassis Pg 50
14.01 Removing and Charging Battery Packs Pg 51
14.02 Battery Station Parts Pg 52
14.02 Removing Internal Electronics Pg 53
Section 15.0 Maintenance Kit Pg 54
AVA-MKTG-022_C.000 3
Vanguard™ MK2
Calling for Customer Service Operating Manual
Section
When calling for service or support, please ensure that you have at least one of the following in-
formation ready for our Technical Customer Support or Sales Representative to assist you:
1) Product Serial No.

2) Who Purchased the product (Name or Company)
3) Purchase Order Number
4) Manual Version
Please photocopy, mark up and fax the relevant section of the Operating Manual that contains the
drawing or detail that will help clarify the problem you are having with the product.
More detailed drawings may be requested, if necessary. Some restrictions may apply.
TECHNICAL CUSTOMER SUPPORT
Call + (613) 749-8343

Fax + (613)-749-3590
Toll Free 1 800 429 9198
customer.service@allen-vanguard.com
SALES
Call + (613) 747-3590

Fax + (613) 747-0723
Toll Free 1 866 747-3590
sales@allen-vanguard.com
Vanguard™ MK2
Vanguard™ MK2 Overview Operating Manual
Section 1.01
Color Claw camera with
dual LED lights.
2-independent firing circuits
Video transmitter with flexible

Antenna mount
(Data transceiver located internally)
PTZ-Color Zoom Camera

with continuous Pan
3 Axis Claw
-Wrist Elbow
-Pincer
-Continuous Rotate
Shoulder & Turret
(2) High & Low beam

LED light system
Battery Compartment
(2) 3”.0 wide Track System
(2) Lifting Handle

2 Way Digital Audio
Microphones & Speaker
Color Drive Camera
Allen-Vanguard continues to design and supply leading edge technologies with its next generation robot the
Vanguard™ MK2. This lightweight, portable, tactical robot maintains excellence of quality with its additional
features and improved functionallity.The Vanguard™ MK2 continues to break new ground in mission support
for HAZMAT operations, tactical and suveillance situaions.
The MK2 is the newest version of the Vanguard robot voted best performing and most applicable system in a
major performance evaluation of competing systems conducted by Battelle, for the Technical Support Working
Group (TSWG) of the National Institute of Justice. The MK2 incorporates the enhancements recommended by
Battelle-and more-making it “a major asset for bomb squads” and law enforcement personnel.
Vanguard™ MK2
The MK2’s Modular Design Operating Manual
Section 1.02
The MK2 is designed to be modular for maintaining and repairing the different components within the platform.
We understand the importance of having the equipment in good running order at all time in case of emergency.
The small size is beneficial, allowing for ease of shipping replacement parts or spare parts for your system. Our
maintenance manual includes the basic steps to repair or maintain your robot. The following sketch details the
main components of the MK2 robot that can easily be replaced.
1
2
3
10
8 9
6
5
7
Modular Sections Assembly part #

(1)-RF Assembly 3VRF221000 (Video Modem), 3VRF220000 (Video Antenna)
(2)-PTZ Assembly 3VPT200000
(3)-Arm Assembly 3VAR200000
(4)-Claw Assembly 3VCL100000
(5)-Left & Right Drive Assembly 3VDS100000-L (left side), 3VDS100000-R (right side)
(6)-Turret Assembly 3VDK200000
(7)-Chassis Assembly 3VCH200000
(8)-Electronics Box Assembly 3VEE210000
(9)- Data Box Assembly 3VRF210000
(10)-Shoulder 3VSH200000
Vanguard™ MK2
Standard MK2 Equipment Operating Manual
Section 1.03
The Vanguard MK2 robot comes with these following items

(List includes optional RF System)
Battery Station
• (2)- 24-volt DC quick change battery pack
• (2)- 24-volt chargers
• (1)- 6-foot direct-access charge cable
Wheel Conversion Kit & Anti-Flip Mount

• (2) 6” Front-Drive Wheels
• (1) Swivel Wheel
• (4) 2 ¼” socket head screws
• (2) Quick-release pins 1.0”
• Anti-Flip/curb relief mount
• (1) 3/16” “T” Handle Hex Driver
Tether Storage Reel

• 500 feet (150 meters) of tether cable
• With slip ring (includes reel)
• (1) Quick release pin 1.5”
Command & Control Unit (CCU)

• Storage Case
• PC-based control software
• (2) 12-Volt Batteries
• Built-in charger
• Laptop computer
• Video Modem (Optional)
• Data Modem (Optional)
• 2-Way Communications Headset
• Mounted Joystick
• Screen Sun visor
• AC Power Cord
• Laptop recovery boot CD for
operational maintenance
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Vanguard™ MK2
Standard Vanguard MK2 Features & Capacities Operating Manual
Section 1.04
Feature Qty Description

Drive System 1 (2) 3.0” wide independent tracks
Wheel Kit 1 (2) 6.0” Wheels & (1) rear swivel
Turret 1 +/- 80 Degrees
Shoulder 1 0-180 Degrees
Elbow 1 0-270 Degrees
Claw-Wrist 1 0-300 Degrees
Claw-Rotate 1 Continuous
Claw-Pincer 1 0-20 cm (8.0 inches) wide with rubber gripper
Pan & Tilt 1 PTZ, color zoom camera, continuous Panning
Drive Camera 1 Color CCD
Claw Camera 1 Color CCD with LED illumination
Main Lights 2 Dual LED Lights with High & Low Beam
Battery Packs 2 24 VDC quick change packs
Charger 2 24 VDC 110 or 220
Tool Outlet 1 24VDC power source for remote tools
Communications 1 RS232 Com port for remote sensors
Command Station 1 Laptop with Robot interface software

Photo Capture
150 meter Tether
DC remote power 3 + hours
AC power (110 or 220 volts)
Rugged waterproof Case 8.5” H x 21” L x 15” W
Weight 45 lbs (20.5 kg)
Telescopic Video Receiver Mount
Laptop sun visor
Headset & Joystick
2 Way Digital Audio
General Capacities
Lift Capacity (arm extended) 8.0 kg (17.6 lbs.)
Lift Capacity (arm retracted) 18.2 kg (40 lbs.)
Vertical Reach 132 cm (52.0 inches)
Horizontal Reach 96.5 cm (38.0 inches)
Ground Clearance 5.75 cm (2.25 inches)
Overall Length 91.5 cm (36.0 inches)
Overall Width 43.5 cm (17.0 inches)
Stowed Height 40.5 cm (16.0 inches)
Overall Weight 48.0 kg (105.6 lbs.)
Mission Duration 2-3 Hours +(quick change battery pack)
Stair Climbing Angle 40 Degrees
Vanguard™ MK2
Optional Features for MK2 Operating Manual
Section 1.05
RF System P/N 3VCS10580

The RF system refers to both the data and video system to make the MK2 completely re-
mote. The data transceivers work on 900 MHz. The video system works on 2.4 GHZ.
The data system is , internal, only exposing the antenna. The video transmitter is protected
by the rear cage and has a flexible mount for the antenna to avoid damage if up righted.
Reusable Transit Case P/N 3VPA15845

The transit case is an optional weatherproof case that stores the MK2 robot and all the
accessories, including the command station and tether reel. This case ideal for storage
or transportation where weather or dusty conditions may be a problem. The transit case
and robot with all accessories weigh approximately 320 lbs.
Recoilless PAN Disrupter Mount P/N 3VOE500000

Firing the PAN Disrupter has never been easier, with the new recoil system from Ideal
Products Inc. Allen-Vanguard provides a mounting system for the PAN disrupter with the
recoil adapter tube which also includes a color CCD camera and dual flashing lasers for
pinpoint accuracy. The Recoil system is a simple add-on to any PAN disrupter.
IR Camera P/N 3VOE210000

The IR Camera is light-sensitive and automatically changes from a color CCD to a B&W
camera in low-light situations. This camera is mounted on the upper arm and becomes
the forth camera. This camera is great for surveillance when searching poorly lit areas.
20 MM Recoilless Disrupter P/N 3VPA15840

The 20mm recoilless disrupter from Proparms mounts to the upper arm, and has a color
CCD camera and laser as part of the mount. Ammunition is bought directly from
Proparms and requires an end user certificate.
Remote RF System P/N 3VLS10580

Extend your video range with this simple remote system. Using your existing tether, at-
tach your video receiver along with a power source and tripod up to 500 away from the
command station. Work from within your Bomb truck and place the receiver around or
into building giving you direct line of site at all times. This can only be used with the op-
tional RF system.
Heads Up Display P/N 3VPA15841

The Heads-Up Display is used when the screen becomes difficult to see in direct sunlight.
The HUD is powered by AC or DC, the command station is equipped with a DC power
plug located behind the laptop. This product can be added at any time.
Vanguard™ MK2
Command & Control Unit (CCU) Operating Manual
Section 2.0
RF video modem
Telescopic pole for video

modem
RF data modem
Interface help menu

MK2 interface soft-
ware
Cooling fan for charger
Laptop On/Off turns on automatically
power button
Joystick
Video, Headset &
Joystick connections
CCU-battery voltage
meter
2 way Communications
Main power On/Off
Headset
breaker switch
RF to tether switch DC power, laptop On/Off
Features behind the laptop
Tether connector Video & audio RCA DC power plug for heads-up Data modem AC Power receptacle Telescopic
output-2 sets display (9 Volts) connector and on/off switch pole mount
AC Power receptacle
Video modem connector fuse panel
The above photo shows most of the CCU features. The CCU is portable and ready to go at all times. You can
choose from AC or DC power. The DC power source can run from 3 to 5 hours before recharging. The batteries
and charger are located internally. To charge the system, plug it into the AC receptacle to charge the batteries
and laptop.
AVA-MKTG-022_C.000 10
Vanguard™ MK2
Software Interface Operating Manual
Section 2.01
Help menu, guides you

through all information
for each function when
selected.
Simple Functionality-how it works

The user interface is a guide to operating your robot, by matching the function you want to use in the interface menu
and the keys on the laptop keyboard. For example, on the above screen, in the Drive box you will see “F1.” This
tells you that by pressing your “F1” key you will activate the Drive function of the robot. All motor functions use
the arrow keys on your keypad or joystick to operate the function. Other functions are toggle on/off such as the
lights “F9”. After choosing your function, use the Help menu for instructions until you are fully familiar with all the
functions and operations, the help menu changes with each key pressed. The interface is the source for your robot’s
information; the laptop automatically boots up into the interface screen. From this menu screen, you can check bat-
tery status of the robot, communication link, what functions you are using and so on. Along with the visual informa-
tion, selecting the “P” button activates your speech feedback, giving you audio confirmation of what button was
pressed.
Keyboard overlay matches the functions on the interface
AVA-MKTG-022_C.000 11
Vanguard™ MK2
Desktop information Operating Manual
Section 2.02
When the laptop is first turned on, it automatically loads the MK2 software. There are other features on the desk-
top you may want to access. You can either minimize the MK2 interface once the software is loaded or close the
software completely.
These are the files you may need or want to access:
1) MK2 Software-should you close the software for any reason and want to start again press this icon.
2) MK2 Manual- the operating manual in PDF format.
3) My Documents file- here is where your photos are saved from the MK2 interface. When you press
F11, the image you are viewing is stored by date and time.
AVA-MKTG-022_C.000 12
Vanguard™ MK2
Running on AC power Operating Manual
Section 2.03
Follow these steps to set up your CCU; this is the best way to maximize the performance of your system on AC
power.
All systems are preset to run on 110AC, and can be changed to run on 220AC, if you are running 220AC and did
not request it do not plug CCU or battery chargers in any outlets. Call Allen-Vanguard for more details.
Robot on/off switch located on the back of the chassis

Battery Pack 1
(Green LED light will light up on upper arm of robot)
AC Power receptacle
and on/off switch 3
Video receiver connector 4
Data modem connector 5

Telescopic 4
pole mount
It is always best to turn the robot on first before turning on your laptop computer and main power.
Robot will take approximately 20 seconds to boot up before LED light comes on.
1. Place charged batteries in robot and turn on switch located in back of robot. Green LED light marked “power” on up-
per arm will come on. (Robot takes 25 seconds to boot up)
2. Open the Laptop’s protective case and check that all connections to the Laptop are properly secured. including the
PCMCIA card, video connections and power cable on the back.
3. Plug in AC cord to AC receptacle located in the upper right hand side of CCU deck. Make sure switch next to recepta-
cle is turned on (line (-) on the switch is on, circle (o) on the switch is off).
4. Attach the video antenna box to the telescopic pole and place pole into pole mount. Plug in the video receiver connector
to the receptacle on the CCU deck behind the laptop.
5. Place the data box on the inside of the protective case lid with the Velcro provided, and plug in the data modem con-
nection on the deck of the CCU next to the video connection.
6. Open laptop and turn on power, Laptop must be fully booted up before turning on main power switch
7. Turn on main power switch located on lower right side of CCU deck. (After Laptop is powered up)
8. If running on RF make sure switch marked RF/Tether is on RF, located lower right side of CCU deck.
9. Make sure the AC/DC switch next to the main power switch is on AC (Auxiliary)
10. Once the interface is loaded on the laptop screen wait for the Radio Link to read “connected” indicating that the CCU is
now communicating with the robot.
Laptop on/off 6
Only plug in if using

RCA outputs. Plugging in
will eliminate laptop
speakers sound.
Video input
Joystick Input
Tether communications
input
Main power switch 7
RF to Tether switch 8 AC/DC laptop switch 9
AVA-MKTG-022_C.000 13
Vanguard™ MK2
Running on DC power Operating Manual
Section 2.04
The following steps should be followed to set up your CCU; this is the best way to maximize the performance of
your system using DC power.
For DC applications it is very important that your laptop battery is fully charged before running DC power.
Trying to run on DC with the laptop unchanged will greatly reduce run time.
Robot on/off switch located on the back of the chassis
Battery Pack 1 (Green LED light will light up on upper arm of robot)
Data modem connector 4 Video receiver connector 3 Telescopic 3

pole mount
It is always best to turn the robot on first before turning on your laptop computer.
Robot will take approximately 20 seconds to boot up before LED light comes on.
1. Place charged batteries in robot and turn on switch located in back of robot. Green LED light marked
“power” on upper arm will come on. (Robot takes 25 seconds to boot up)
2. Open the Laptop’s protective case and check that all connections to the Laptop are properly secured,
including the PCMCIA card, video connections.
3. Attach the video antenna box to the telescopic pole and place pole into pole mount. Plug in the video
receiver connector to the receptacle on the CCU deck behind the laptop.
4. Place the data box on the inside of the protective case lid with the Velcro provided, and plug in the data
modem connection on the deck of the CCU next to the video connection.
5. Open laptop and turn on power, Laptop must be fully booted up before turning on main power switch
6. Turn on main power switch located on lower right side of CCU deck. (After laptop is powered up)
7. If running on RF make sure switch marked RF/Tether is on RF, located lower right side of CCU deck.
8. Make sure the AC/DC switch next to the main power switch is on DC.
9. Once the interface is loaded on the laptop screen wait for the Radio Link to read “connected” indicating
that the CCU is now communicating with the robot.
How to maximize your DC power
When running on DC power, both of the RF modems and laptop are drawing power form the internal 12 Volt
battery supply. For best results drain the **CCU batteries to 11.20 volts (looking at battery indicator above AC/
DC switch) Now switch the AC/DC switch to AC auxiliary, this switches off the laptop from DC power and is
now running on its own laptop battery power. And the CCU batteries are only powering the RF modems.
Always fully charge your system after use when running on DC power
Laptop on/off 5
power switch
Only plug in if using

RCA outputs. Plugging in CCU battery status indicator
will eliminate laptop **Drain to 11.20, than switch AC/DC
speakers sound. back to AC auxiliary.
Main power switch 6

Video & Joystick 2
-turn on after laptop has booted
connectors
up
RF to Tether switch 7 AC/DC laptop switch 8

AVA-MKTG-022_C.000 14
Vanguard™ MK2
Adjusting /Muting Volume Operating Manual
Section 2.05
The MK2 comes with three features that uses the volume control. The first is the microphones located on the front of
the robot that allow you to listen to the robot for feedback on the motors or people talking. The “P” button that acti-
vates the speech function. This function gives the users audio feedback on what function has been selected.
In both cases the volume has been already set up at our factory at an acceptable volume. Selecting “T” activates the
2 way digital audio, when selected you will turn of the robots microphones, use the space bar or joystick to talk.
Adjusting Volume
To adjust the volume up or down you must first press and hold the *(FN) button on the keyboard located at the
lower left side. While holding this button down press the volume up, or volume down buttons on the right side of the
keyboard.
Muting Sound/Speaker Reset
To mute the sound completely press and hold the *(FN) button and press the Volume mute button on the right side
just above the volume adjust keys. Pressing the mute button without holding the (FN) button will reset the speaker
volume, if you have raised or lowered the volume.
Volume Mute
Hold (FN) and then press
once to mute or un-mute
volume.
Volume Control
Hold (FN) button on far
side, and press up or
down volume.
*(FN) button 2 Way Digital Audio For speaker volume use the same PgUp, PgDn but-
Press & hold to adjust tons but do not use the (FN) button. IF you are using the 2 way audio sim-
volume or mute volume ply press PgUp or PgDn to raise or lower the speaker output volume.
Home Button The Home returns the speaker volume to a preset volume.
(For full details on 2 way audio see page 46)
Trouble shooting Audio

No audio at all
IF you do not have audio coming from either the microphones or speech function check that you did not acciden-
tally press the mute button while adjusting your volume or your volume is completely turned down. Holding the
(FN) button press the volume up button and at the same time try your mute button to make sure it is off. You can
tell if your mute is on or off by checking the upper left side of the laptop screen it will indicate if the volume is
muted or not.
No audio microphones only

If you do not have audio from the microphones but do have audio on the speech function; first check the audio input
plug on the left side of the laptop incase it has come partially out. To test that the laptop is receiving audio use the
RCA audio outputs located behind the laptop on the left. Plug in a TV to the audio and video outputs. If there is
audio the problem is not at the robot end. If this does not work please contact Allen-Vanguard for further assistance.
AVA-MKTG-022_C.000 15
Vanguard™ MK2
Radio Link, Battery Status & Mission Time Operating Manual
Section 2.06
Mission time
Battery voltage
on robot
Radio Link Status
Note: Turn on robot before turning on laptop. This will allow the interface to load more quickly, since it is trying
to communicate.
Radio Link
With any remotely controlled vehicle, it is important to know that you are sending and receiving the commands
back and forth. On both RF and Tether, the only way to know that you can operate the vehicle is when the Radio
Link status bar reads “connected”.
Trouble shooting -No Radio Link

If the Radio link does not say “connected” within 30 seconds of the interface appearing on the screen, check the
following.
1) The main power switch is turned on for the CCU.
2) IF using RF or Tether that the RF/Tether switch is on the right selection.
3) Make sure robot is on-check that the green LED on the upper arm for confirmation.
4) If there is no green LED after turning on robot, turn robot off and check the battery connection on both ter-
minals of the battery pack by opening the battery bag. Also try another battery pack in case batteries are
dead. If after trying all these suggestions and you still have no link call Allen-Vanguard for further assis-
tance.
Battery Status
The battery status is feedback from the robot to let you know the voltage left on the batteries. A fully charged
battery back should register 25.2 volts or more. It may vary from pack to pack based on the overall conditions of
the batteries and that proper maintenance has been done to keep the batteries is good working condition.
Battery Warning Indicator

The Battery Status has 3 warning stages. When the batteries are fully charged the voltage reading will be ap-
proximately 25.0 to 27.0 volts. When the batteries are very low and you must change batteries. To get the best
results for you battery status stop all motor functions and let the robot sit still for approximately 15 seconds.
Battery Indicator Chart

27.0 volts to 24.0 volts Fully charged
23.99 volts to 23.51 Limited time
23.5 or less Change batteries
Mission Time
Mission time can be used to give you an idea of how long each of your missions are, and can be used with the
battery status. If a fully charged battery only lasts 10 minutes, you may have damaged batteries. Most missions
are relative to the amount of driving-the more driving, the less mission time. For surveillance operations, if you
are just using the robot as camera support in a fixed position, the robot may last all day.
AVA-MKTG-022_C.000 16
Vanguard™ MK2
Joystick Set Up Operating Manual
Section 2.07
The main advantage of the joystick is that it offers variable speed on motor functions. The joystick works the
same way as the arrow keys, up, down, left and right. It is important to note that when climbing stairs is better to use
the arrow keys to maintain a constant even speed. It’s the slow speed momentum the keeps the robot properly bal-
ance while climbing. Too jerky movement might cause the robot to tip back.
Operation:
1. Plug the USB cable from the Joystick into the laptop USB receptacle, located in the lower left of the laptop.
(Joystick is plug and play application)
2. Turn on laptop (wait for MK2 software to boot up)
3. Select the desired function by press keypad key F1-F8. (not including F7 camera select)
4. Press and hold the trigger button on the joystick, move in the direction you wish to go.
Speeds, the joystick overall speed is determined by what speed you choose with the “S” button. If you choose
slow speed the maximum speed on the joystick will be slow. And the same when using medium or fast.
2 Way Digital Audio, the 2 thumb switches can be used to turn on the microphones and activate “push to talk”
function for the speaker. (See page 46 for details)
The joystick must be plugged

in before starting powering up
the Laptop.
C
.
Joystick USB connection (A) Place mount on edge of

case, (B) rotate gate under
edge. (C) Tighten knob.
Mount is steadiest near corner
of case.
Troubleshooting
What to do if your joystick does not work.
1. MK2 interface must be off.

2. Joystick must be plugged in.
3. Click on the Start menu and navigate to "Control Panel".
4. In Control Panel, there's an icon that says either "Gaming Options" or "Game Controllers". Double click on
this icon to bring up the Gaming Options window.
5. This brings up the gaming options window. In the "Game Controllers" section of this window, you should see
a list of all the currently installed joysticks. If you do not see the joystick in the list, then reboot the computer
and try again.
6. To test the joystick's configuration, highlight the joystick's name in the "Game Controllers" list and then click
on "Properties". This will bring up the Joystick Properties dialog box.
7. There are two tabs on top. One of them is "Settings", the other is "Test". Click on the "Settings" tab.
8. In the "Settings" window, click on the "Calibrate" button.
9. Follow the calibration procedure as per the instructions on the screen and hopefully the joystick will be ready
to go once the procedure is finalized. If your joystick is still not operating after trying this please contact Allen-
Vanguard for further assistance.
AVA-MKTG-022_C.000 17
Vanguard™ MK2
Running on Tether Operating Manual
Section 2.08
The MK2 comes with a basic operational tether. Due to size and weight of the tether, it can only be used with the
track configuration. The tether is best used where the possibility of interference in the area can cause poor video.
This tether is designed for the robot to drive in a relatively straight line to the destination.
The tether is spooled out from a fixed location next to the CCU. Please practice with the tether to know its limits
and advantages. The tether is durable enough for the robot to drive over it if you have to.
Running On Tether
Do not turn on the robot until the tether has been installed on the robot and CCU.
1. The anti-flip mount must be used to attach the tether strain relief mount. Place the anti-flip mount on the
back of the robot. Use only (1) of the 1.0” quick pins in the lower hole.
2. Attach the strain relief mount on top of the anti-flip mount using the 1.5” quick pin in the upper hole of
the anti-flip mount.
3. Remove cover from tether connector located just in front of the battery compartment-plug in tether.
4. Using the 10-foot adaptor cable located on the side of the reel, attach the cable to the tether connector
located on the upper left side of the CCU behind the laptop.
5. Change the RF/Tether switch to tether on the lower right side of the CCU deck.
6. Turn on laptop.
7. Turn on robot and wait for Radio Link and Battery Status to turn green. You are now fully operational.
Note: when finishing on Tether if you are going to use RF again, make sure you unplug the 10-foot tether
adapter cable front the CCU deck. It causes interference when plugged in and you are using the RF system.
Mounting the Tether Tether mount to robot deck
Tether strain relief mount
Anti-flip mount, must

be used to install
tether mount to robot.
1.0” quick pin 1.5” quick pin
10-foot tether adapter plug in, plugs into CCU deck

Tether communication to the laptop
goes through this PCMCIA card,
make sure it is properly secured
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Operating Manual
Tether Reel Parts Section 2.09
1 VTR 110 000 (ASSEMBLY)

5 VTR 100 005
6 VTR 100 006
7 VTR 100 007
8 VTR 100 008
9 VTR 100 009
10 VTR 100 010
21 VHSW-S-08C-1250
22 VHWS-S-25C-0625
23 VHWS-B-25C-0625
24 VHSW-S-10C-0625
25 VHSW-F-08C-0500
27 VHWS-B-25C-0500
28 VHWM-0005
Item 4 & 6-Robot & CCU Connectors

The tether hooks directly up to the Robot and CCU to give uninterrupted video and communications. If you have
any problems communicating on tether, check the following. First make sure that you are properly connected to the
Robot and CCU before turning on Robot. Second make sure that you have switched the RF/Tether switch to Tether
(switch located on your CCU deck) Also take a visual check of all the connectors to ensure that all pins and sockets
are in properly and not pushed back into the connector. To check the cable from end to end with a use the following
pin outs.
Connector Pin outs

CCU Connector (9 Pin) Function Robot Connector (16 Pin)
Pin 1 Ground Pin 1
Pin 2 Video Pin 2
Pin 3 Audio Pin 3
Pin 4 Data Transmit Pin 4
Pin 5 Data Receive Pin 5
Pin 6 Disable RF Pin 6
Pin 7 Ground Pin 7
Pin 8 (empty) Pin 8
Pin 9 (empty) Pin 9 to 16
Item 10-(far side) Slip Ring Cover

For the tether reel to work while unwinding, there is a slip ring located inside the hub of the reel. If you not get con-
tinuity through the cable open the cover to the slip ring and make sure all terminals are properly fastened. There are
similar terminals located internally. Do not access these without further instructions from an Allen-Vanguard techni-
cian.
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Operating Manual
Charging the CCU & Laptop Section 2.10
If you are running your CCU on AC power you are always recharging the Laptop & CCU internal 12 Volt
batteries. Charging your system is more important after running your system in DC mode. Running in DC
mode will drain the CCU & laptop batteries. Batteries should always be stored in a charged state to ensure
longer life, and that you are ready for the next mission.
Note: The changing system and AC power can be set to either 110 AC or 220 AC. All systems by default are
set to 110 AC unless specified otherwise by customer. If you are using 220 and did not consult Allen-
Vanguard do not plug in your system. Please contact Allen-Vanguard for further instructions.
Quick Steps-charging your CCU & Laptop
Make sure your laptop is turned off in order to properly charge the batteries.
Video & Data modems should be unplugged and stored away.
(1) Plug in your AC power cable to electrical outlet.
(2) Check that your AC receptacle is switched to the ON position.
(3) Check that your Main power switch is turned OFF. (Battery indicator for CCU should be off)
(4) Check that your AC/DC switch is ON AC Auxiliary
(5) The laptop battery indicator shows if the laptop is fully charged or charging.
(2) AC receptacle On/Off (1) AC cord receptacle
(3) Main CCU On/Off
(4) AC/DC switch
(5) Laptop battery charge indicator

Orange =Charging
Green =fully charged
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Operating Manual
Storing the CCU Section 2.11
Proper storage of your CCU is important so you do not damage your laptop. It is always easy to unpack something
but to remember how it was before you took everything out might be more difficult. This is just a simple reminder
on how to properly pack up your CCU for safe storage or travel.
Note: Do not sit or place heavy objects on top of the closed storage case.
Never leave the data modem stored in the lid of the case.
Quick Steps to Packing away your CCU

Make sure that you have fully charged batteries if you are storing the CCU for any extended period of time.
(1) Make sure that you have turned off your Laptop. It is possible for it to run when the lid is closed. There is a
green power LED light that will flash if the computer is on. If it is flashing open the laptop and properly shut
it down.
(2) Make sure that that the Main power switch is turned of.
(3) Unplug your Data and Video modems and store them in the pocket to the right of the laptop. Bundle up the
video modem cord next to the modem. Place data modem in front cable along front of computer.
(4) Place the telescopic pole in the clamps located at the lower end of the lid.
(5) Fold up the AC cable and place next to the video modem.
(6) Carefully shut the lid of the storage box, checking that no cables are in the way of the edge of the box.
(5) AC Cord storage
(4) Telescopic pole storage
(3) Video Modem storage
(3) Data Modem storage
(3) Bundle video cable next

to receiver and place data
cable in front of laptop.
(2) Turn off Main ON/OFF switch
(1) Make sure there is no flashing LED

light that indicates the laptop is still
running. Turn off if necessary.
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Operating Manual
Restoring the MK2 software Section 2.12
There might be a time where you have to re-install your MK2 software. The disk provided from Allen-Vanguard
quickly restores your system if there are any problems. The process is automatic and takes about 15 minutes to
complete. Please note that after the software is installed you must reboot twice after installation please follow the
below steps.
Quick Step for re-installing your MK2 software

Plug in your laptop to AC power to make sure that the laptop does not lose power while installing your software.
(1) With the laptop off open your CD drive located on the right hands side of your laptop.
(2) Push the CD in and turn your laptop on.
(3) The system will automatically boot up, do not do anything at this point.
(4) The screen will open to a help screen for the installation that shows you how long the installation will take.
(5) When the software is finished the screen will have a message to prompt you to do the following;
Please remove the CD form the CD-Rom drive and reboot your computer. At this point you need to turn off
the computer by pressing the power button.
(6) Now start your computer back up using the power button.
(7) Your software will now go to the MK2 menu screen, once this is completely loaded you will need to shut down
your system again for the installation to be complete. Close down the MK2 software and then shut the computer
down using normal windows procedures.
(8) For the last step re-start your computer for the last time. Your system is now ready for use.
(2) Insert the CD with (4) Installation screen with

the laptop turned off time menu
CD Information
Allen-Vanguard makes a duplicate CD for each of the robots and keeps it with your personal file. Each CD is
marked with your laptop and robot serial # for future use incase you loose yours and need duplicate copy. Your CD
is for your MK2 robot only at no time shall this software be used in any other computer without the written consent
of Allen-Vanguard. No copies of this CD can be make without the written consent of Allen-Vanguard.
The CD also contains other information you might need to access such as the operating manual in PDF format.
AVA-MKTG-022_C.000 22
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Operating Manual
F1 Drive Function Section 3.0
F1 on your keypad selects your drive function. This function allows the
robot to drive from one point to the other. The drive system is the largest
draw of power from your batteries. Always choose the most direct route to
and from your destination. Always drive with the arm in the stowed position,
this gives the robot its best balance for skid steering and climbing over ob-
stacles. This also reduces unnecessary wear and tear on the arm gears. MK2
offer simultaneous functions such as forward and left or right steering.
Keypad operation Trigger Joystick operation

Forward
Gradual steering hold Gradual steering hold
Forward
forward and left forward and right
Right
turn
Left Right
Turn Turn
Reverse
Quick Start Guide-Keypad operation Left

Reverse
Turn
Press F1 to select your drive command.
Press S button on the keypad to toggle your speed-slow, medium or fast.
Using the arrow keys on the keypad the robot will move in the direction of the arrows at the speed you selected..
Gradual Steering –MK2 is capable of two functions at the same time. While driving forward with the keys hold
the left or right turn arrow button. This allow the operation to continue driving and turn left or right without hav-
ing to stop.
Quick Start Guide-Joystick operation
Press F1 to select your drive command
Pull the trigger on the joystick than move the joystick in the direction you want to move.
The joystick is variable speed the further you push away from the home position the faster the robot will go. If
you release the trigger the robot will stop moving.
Driving with the wheel kit

Press V button on the keypad changes from track to wheels this function changes the rate at which the robot
turns to better control the robot.
Note: This function is only required when the wheel kit has been installed on the robot. See wheel kit installation
on the following page for more details.
AVA-MKTG-022_C.000 23
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Operating Manual
Attaching Wheel Kit Section 3.01
MK2 can be converted from a tracked vehicle to a wheeled vehicle. Both methods have advantages and disadvan-
tages. When using tracks, you have the most versatile method; tracks can go just about any where in any terrain, but
at a slower speed. The wheeled method only allows for greater speed-wheels are approximately twice the speed as
tracks but you lose the versatility.
How to choose between Tracks or Wheels
In most cases, tracks will be your method of choice; they are more versatile, have more control and can over-
come obstacles. The basic wheel kit is great for open flat terrain where you do not have any obstacles, such as
curbs or slopping ground to overcome. The track method must always be used when operating on tether; the
design of the wheel kit makes it difficult to control when pulling a load such as the tether. When choosing the
wheel kit don’t forget to change the interface from tracks to wheels by pressing the “V” on the keypad. This
change is done so you have better control in steering while in the fast speed.
Components of the Wheel Kit
2 1/4” Socket Head Cap Screws

(2 per Wheel) Swivel Wheel
6” Rubber Wheels
“T” handle 3/16’ Hex Drive 1.0” quick pins (2 pieces)
Installing the wheel kit
Step 1-Located on the *lower front drive Rear accessory

wheels are (2) ¼-20 treads, this is where you will mount
attach the 2 ¼” socket head screws.
Step 2-Screw the 2 ¼” socket head screws

through the wheel hub onto the lower front
drive wheel. Install the wheels using the
3/16” hex drive.
Step 3-Using the 1.0” quick pins, attach the

swivel mount to the rear accessory mount *Lower front
drive
located on the back of the robot.
Step 4-Press V on the keypad to change your

interface from tracks to wheels.
Why to select “V” wheels button

The “V” button for the wheel kit is designed to control the rate
of speed during skid steering. If you are using the keys in fast
speed and you try and turn without this button activated the ro-
bot will spin very fast due to the swivel wheel in the back. This
feature controls the speed of the skid steer no matter what speed
you select to drive. This featured keeps the skid steer at an easy
rate of speed to control the robot. Wheel kit installed
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Operating Manual
Attaching the Anti-Flip Mount Section 3.02
The MK2 robot comes with an anti-flip mount to aid in driving. This is a safety measure we have added to help in
the wear and tear of your vehicle. We have designed a mount that can be used to reduce the risk of overturning the
robot on stairs or high curbs.
Using Anti-Flip
Using the (2) 1.0” quick pins install the mount with the horizontal side down. This configuration will prevent your
vehicle from flipping over should you encounter an obstacle that appears to be high but you need to approach it for
your mission. Judging the angle of stairs can be difficult, especially from a distance. Use this mount whenever you
are in unfamiliar territory.
This configuration can be used at all times and helps ease the robot of curbs. This is important so the robot does
not slam down off curbs, possibly damaging electronic components or cameras.
Install with the (2) 1.0” quick pins
Helps stabilize robot on stairs & high curbs
The Anti-flip as shown helps keep the robot

steady on the stairs, and keep it from tipping
back.
Do not attempt stairs without the Anti-flip

mount installed
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Operating Manual
Driving tips Section 3.03
Keep Arm Stowed

Always keep the arm in the stowed position until it is needed. The reason is simple; the lower the arm, the more
stability and control you have. Furthermore, the arm is resting on rubber stoppers, which alleviates wear and tear
of the gears. This is even more important when carrying the Disrupter, which weighs 12 Lbs. Keep in mind that,
with the arm fully extended, the weight on the tracks is no longer central and turning may become more difficult.
Stair climbing and descending should be done in slow speed only. This reduces the impact on your electronic
and camera systems. Slow speed should also be used when turning with the arm extended, or with a load such as
the disrupter.
When climbing stairs the

arm should be fully stowed Important!
and the anti-flip mount must
be installed on the rear of
the robot.
Anti-Flip mount
Climbing stairs moving Descending stairs moving

forward in slow speed backwards only in slow speed.
Note: Descend stairs is in reverse,

creeping in slow speed.
Driving in different terrain

The best way to become familiar with driving in different conditions is to go out and try different scenarios. In
some conditions, such as grass, and depending on the length, try and make small turns. The tracks will grip very
hard in soft grass. Doing a complete 360 turn will drain a lot of power from your batteries and grass, gravel or
sand may get caught in the drive wheels, making the turn that much harder. In these situations, use gradual steer-
ing. The same can be said for situations were there is a lot of debris on the ground. Making 360 degree turns in
sand, snow or gravel may only cause trouble; always go in a direct line to your target. In difficult situations,
make as short a turn as needed. Using the audio to monitor the sound of your drives will help you to hear when
Always make small steering movements in rugged terrain, when driving forward use you left or right turn while mov-
ing forward in small increments to avoid filling the tracks with unwanted debris.
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Operating Manual
Removing Tracks
There are times that you may need to remove a track, repairing, replacing or for general cleaning and mainte-
nance. The track only takes a few minutes to remove and only requires the upper front drive wheel to be re-
moved. The first step is to loosen the tension put on the track from the rear tension spring. See the following
steps. The tracks can be replaced in the same way in the opposite order.
Step 1-Reduce the track tension before Step 2-Grab hold of the track and lift up- Leave the wrench in place for the next
removing the track, you will need a 1/2” wards. This will compress the spring, place steps.
open-ended wrench. the 1/2” wrench between the locknut and
wall.
Step 4-Once the wheel is off, slide the track over the
Step 3-Remove the two hex bolts from the
front end, off the opposite drive wheel. Using the side
upper front drive wheel.
handle lift tip the robot up to slide the track from un-
derneath
Replacing track
Follow the same procedures in reverse to place the track back on. Start by lifting the robot up to slide the track under
the drive system and over the rear wheel. Next pull the track over the upper front drive wheel fitting the track into the
grooves of the remaining front wheel. Place the other drive wheel back on, line up the grooves in the track. Now that
the wheels are on lift up the track at the back end to loosen the wrench and remove it.
AVA-MKTG-022_C.000
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Operating Manual
Removing Drive System Section 3.05
Follow these steps to remove the drive system. This should only take a few minutes for each side. The track must
first be taken off, so follow the steps from the previous page.
Step 1-First remove the track from the drive system (see previous page)
Step 2-Remove the drive motor cover plate located at the front of the drive system (6 screws).
Step 3-Disconect the power connector from the drive motor.
Step 4-Remove the three bolts that secure the drive system to the chassis.
Step 5-Slide the drive system off the chassis mount.
1-First remove track
5
3
AVA-MKTG-022_C.000 28
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Drive System Parts Operating Manual
Section 3.06
The MK2’s Drive system consists of two sets of drives on each side of the chassis. The parts on each side are
basically identical accept for the main side plates that slide on each side of the chassis.
1) VDS 100 001 DRIVE WHEEL (28 TEETH) 30) VHSW-H-25C-0625 HEX HEAD SCREW
2) VDS 100 002 IDLER WHEEL (22 TEETH) 31) VHSW-F-06C-0500 FLAT PHILLIPS MS
3) VDS 100 003 IDLER WHEEL AXLE 32) VHSW-F-06C-0250 FLAT PHILLIPS MS
4) VDS 100 004 IDLER WHEEL HUB 33) VHSW-S-06C-0375 SOCKET HEAD CAP SCREW
5) VDS 100 005 TENSION IDLER HUB 34) VHSW-S-08C-0S00 SOCKET HEAD CAP SCREW (ALLOY)
6) VDS 100 006 TENSION IDLER HUB BUSHING 35) VHSW-B-10C-0500 BUTTON HEAD CAP SCREW
8) VDS 100 008 TENSION IDLER SPRING SPACER 36) VHNT-L-38C LOCKNUT
9) VDS 100 009 TENSION IDLER ROD 37) VHNT-J-38C HEX JAM NUT
10) VDS 100 010 TENSION IDLER BLOCK 39) VHWR-L-250 LOCKWASHER
11) VDS 100 011L LEFT DRIVE INNER SIDE PLATE 40) VHBE-T-008 THRUST WASHER
12) VDS 100 012L LEFT DRIVE OUTTER SIDE PLATE 42) VHBE-B-001 BALL BEARING
13) VDS 100 013 DRIVE SIDE PLATE SPACER 43) VHBE-B-002 BALL BEARING
14) VDS 100 014 DRIVE SIDE PLATE STANDOFF 44) VHWM-0050 BELT MODIFIED
15) VDS 100 015 DRIVE MOTOR GUARD 45) VHWM-0160 COMPRESSION SPRING
16) VDS 100 016 DRIVE MOTOR COVER 48) VHBE-R-004 RETIANING RING
17) VDS 100 017 TOP IDLER SHAFT 49) VHWM-0216 FOLDING HANDLE
18) VDS 100 018 TOP IDLER WHEEL 50) VHTR-0034 BRONZE BUSHING
19) VDS 100 019 SS DRIVE GB DRIVE NUT 51) VHWM-0303 ROUND STANDOFF
20) VDS 100 020 IDLER DRIVE NUT
21) VDS 100 021 IDLER WHEEL MOD (22 TEETH W/ THREADS)
25) VDS 110 000 GEARBOX ASSEMBLY
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Operating Manual
F2 Turret Function Section 4.0
F2 on your keypad selects your turret function. This function allows the
turret & arm to move from left to right. The turret can only be used when
the arm has been lifted from the stowed position. The turret allows the op-
eration to move the arm from one side to the other to either pick up an object
or to aim a water disrupter. You must know the position of the arm at all
times before moving the turret. Using the Main camera, watch that the claw
or claw camera will not hit the track.
Keypad operation Joystick operation

Trigger
No action
No Action
Turret
Right
Left Right
No Action
Turret No Action
Left
Warning: Turret may only be used once the Arm has been raised. When the robot is fully stowed away, the claw
camera may hit the drive system. Also watch when stowing the arm Do not lower the arm if turret is not centered or
slightly to the right. Use the pan and tilt camera to view where the turret is positioned. Move the turret over to the
right side if the claw camera is too close to the drive system. Use slow speed to stow claw and arm.
Quick Start Guide-Keypad operation
Press F2 to select your turret command. (Use F5 to un-stow arm first)
Press S button on the keypad to toggle your speed-slow, medium, or fast.
Using the arrow keys on the keypad the turret will move in the direction of the arrows is the speed you selected..
Press F2 to select your turret command (Use F5 to un-stow arm first)
Pull the trigger on the joystick than move the joystick in the direction you want to move. In this case only left or
right. The joystick is variable speed the further you push away from the home position the faster the turret will go. If
you release the trigger, the turret will stop.
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Operating Manual
Removing the Turret Section 4.01
Before the turret can be removed you must first follow 2 steps on page 36 to remove the arm, and the other on page
53 removing the electronics box. First follow the steps on removing the arm, once the arm is off you can follow the
steps to remove the electronics box. Follow the first three steps in order to remove the deck. Once these steps are
finished you can proceed with the following steps to remove the turret.
Step 1-Unscrew the (9) screws holding the turret motor housing in place.
Step 2-Remove the (6) flat head screws from the upper part of the turret.
Step 3-Slide the turret housing off from the deck plate.
After this step you can remove the turret gear and upper plate from the chassis deck.
3
1
AVA-MKTG-022_C.000 31
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Operating Manual
Turret Parts Section 4.02
1 VDK 110 000 Assembly

6 VDK 100 006
7 VDK 100 007
8 VDK 100 008
9 VDK 100 009
11 VDK 100 011
12 VDK 100 012
14 VHWM-0808
15 VHSW-S-10C-0500
16 VHSW-F-25C-0750
17 VHSW-B-06C-0375
18 VHSW-S-08C-0375
19 VHSW-F-08C-0500
20 VHSW-S-25C-0500
21 VHSW-S-25C-0500
22 VHSW-S-06C-1000
23 VHSS-R-06C-0500
25 VHCA-1027
26 VHWM-0664
28 VHBE-T-011
29 VHBE-T-012
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Operating Manual
F3 Elbow Function Section 5.0
F3 on your keypad selects your elbow function. This function allows the
elbow to move up or down. Before using the elbow use your F5 Arm func-
tion to first raise the arm to approximately 90 degrees. The elbow is located
in the upper arm of the robot and can lift about 20 lbs. For heavier lifting
you must use the shoulder function. When carrying loads try and keep the
weight as close to the robot as possible. This will reduce wear and tear on
arm gears and helps balance the robot while driving.

Up Trigger
Up
No Action
No Action No Action
Down
Down
No Action
If the arm is in a stowed position, you should use F5 Arm function to raise the arm and elbow to about 90 degrees.
Once the arm is up, you have full use of all functions.
Press F3 to select your elbow command. (Use F5 to un-stow arm first)
Press S button on the keypad to toggle your speed-slow, medium fast.
Using the arrow keys on the keypad the elbow will move in the direction of the arrows is the speed you selected..
Quick Start Guide-Joystick operation (Use F5 to un-stow arm first)
Press F3 to select your elbow command
Pull the trigger on the joystick than move the joystick in the direction you want to move. In this case only up or
down. The joystick is variable speed the further you push away from the home position the faster the elbow will go.
If you release the trigger the elbow will stop moving.
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Operating Manual
F4 Shoulder Function Section 6.0
F4 on your keypad selects your shoulder function. This function allows

the shoulder to move from forward to deploy the arm or to back to stow the
arm. Before using the shoulder it is best to use your F5 Arm function to
first raise the arm to approximately 90 degrees. The shoulder is used when
picking up heavy objects, any item over 20 lbs will have to be lifted by the
shoulder the best position for lifting is directly in front of the tracks. The
closer you are to the robot the more weight you can lift.
Keypad operation Joystick Operation

Trigger
Forward
Forward
No Action
No Action No Action
Back
Back
No Action
If the arm is in a stowed position, you should use F5 Arm function to raise the arm and elbow to about 90 degrees.
Once the arm is up, you have full use of all functions.
Press F4 to select your shoulder command. (Use F5 to un-stow arm first)
Press S button on the keypad to toggle to your speed-slow, medium fast.
Press F4 to select your shoulder command. (Use F5 to un-stow arm first)
Pull the trigger on the joystick than move the joystick in the direction you want to move. In this case only forward
or back. The joystick is variable speed the further you push away from the home position the faster the shoulder will
go. If you release the trigger the shoulder will stop moving.
AVA-MKTG-022_C.000 34
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Operating Manual
F5 Arm Function Section 7.0
F5 on your keypad selects your arm function. This is always the first func-
tion to choose when operating the either the shoulder, elbow, claw, or tur-
ret. The arm should be in the stowed position at all time until needed for a
specific task. When first un-stowing the arm use fast speed and bring the
arm to approximately 90 degrees before engaging any of the above men-
tioned functions. Please read carefully page 38 on stowing and
un-stowing the arm.

Trigger
Un-stow Elbow & Shoulder

Brings arm forward Un-stow Elbow & Shoulder Turret Right
Brings arm forward
Turret Left Turret Right
Stow Elbow & Shoulder

Brings arm back Stow Elbow & Shoulder
Turret Left Brings arm back
Warning: Always lift arm to approximately 90 degrees before engaging turret.
Press F5 to select your arm command. This moves both Elbow & Shoulder at the same time as well the turret is
activated using your left & right arrow keys. Un-stow arm before using the turret.
Press S button on the keypad to toggle to your speed-slow, medium fast. (use fast speed to un-stow)
Using the arrow keys on the keypad the arm & turret will move in the direction of the arrows is the speed you se-
lected.
Press F5 to select your arm command. This moves both Elbow & Shoulder at the same time as well the turret is
activated moving the joystick to your left or right. Un-stow arm before using the turret. (use fast speed to un-stow)
Pull the trigger on the joystick than move the joystick in the direction you want to move. In this case both Elbow &
Shoulder at the same time, also you can move the turret. The joystick is variable speed the further you push away
from the home position the faster the arm will go. If you release the trigger the arm will stop moving.
AVA-MKTG-022_C.000 35
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Operating Manual
Removing the Arm Section 7.01
To remove the arm from the robot you only need to remove 4 screws. The diagram below also illustrated removing
the arm supports. Removing the arm supports is only necessary if you with to remove the upper arm that houses the
elbow motor and claw motor.
Step 1-To remove the arm from the turret remove these 4 screws, 2 on each side.
Step 2-To remove the arm supports remove these screws.
Step 3-To open motor housing remove these screws and slide off steel collar, 2 on each side.
AVA-MKTG-022_C.000 36
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Operating Manual
Arm Parts Section 7.02
Claw Wrist
2
3
Elbow
4
6 7
10
12
13
11 Shoulder
(1) WRIST GEAR ASSEM. VAR 140 000

(2) ARM MOTOR HOUSING VAR 100 010
(3) RUBBER TIP VHWM-0607
(4) FIRING CONNECTOR ASSEM. VAR 250 000
(5) ELBOW GEAR ASSEM. VAR 13 000
(6) ELBOW SPACER VFA 100 004
(7) FOREARM MOUNT VFA 100 003
(8) FOREARM SPACER VFA 100 005
(9) FOREARM RIGHT VFA 200 001
(10) FOREARM LEFT VFA 200 002
(11) SHOULDER ASSEM. VSH 200 000
(12) UPPER RUBBER BUMPERS VHWM-0603
(13) LOWER RUBBER BUMPERS VHWM-0606
SHOULDER MOTOR VSH 110 000 (Not Shown)
ELBOW AND WRIST MOTOR VAR 170 000 (Not Shown)
AVA-MKTG-022_C.000 37
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Operating Manual
Deploying and Stowing Arm Section 7.03
The MK2 has 6 different movements in the arm. There is a specific order
needed to deploy and stow the arm. It is important to stow it in as tight a
package as possible. This has allowed for a stable driving platform with
low center of gravity for climbing stairs.
Note: Unlike the drive system motors that have feedback capabilities, all
the arm functions do not. What this means is that when choosing a speed Stowed position
(slow, medium, fast) under load, the arm will not have the same torque in
slow as it would in fast. You can move the arm in any speed but when it
comes to picking up a load you may need medium or fast to complete your
task.
Deploying the Arm

Follow and practice these steps. Practice first by looking at the robot until
you are comfortable will all the movements. Once you understand what all
the functions are, use the pan & tilt camera to deploy and stow the arm. It is Arm function F5
highly recommended to use audio when using the functions. Audio will
give you feedback on the load of the motors.
Step 1-Whenever the robot is in a stowed position, your first move will be
function F5 (keyboard arrow up). This arm function on your interface
will bring both the shoulder and elbow up and forward from the stowed po-
sition. Bring the arm position to approximately 90 degrees.
Step 2-Once you have lifted the arm, you can now bring the wrist function Wrist function F6
from the claw down. Choose F6 (keyboard arrow down) to deploy the claw
from its stowed position. Now that the claw is out, you can continue safely
with all other arm functions.
Step 3-The turret can be used at this time. Keep in mind that it is good practice
to use your pan & tilt camera to view all moves by the turret. It is possible to
hit the claw or tracks, depending on arm position, so keep an eye out for this at
all times.
Note: It is recommended to only deploy the arm when using it for a specific
task. Always drive with the arm in a stowed position. This will save on wear Turret function F2
and tear of all arm mechanical joints.
Stowing the Arm

Step 1-Close Claw completely. Rotate in line with arm. Use slow speed to rotate claw to rubber stop.
Step 2-Check that turret is centered or slightly to the right of center.
Step-3-Bring shoulder and elbow close to stowed position using medium or fast speed, then stop.
Step 4-In slow speed bring shoulder completely down to rubber stops.
Step 5-In slow speed bring elbow completely down to rubber stops.
Step 3 Step 4 Step 5
AVA-MKTG-022_C.000 38
Vanguard™ MK2
Operating Manual
F6 Claw Section 8.0
F6 on your keypad selects your claw function. Before using the claw you
must first un-stow the arm until approximately 90 degrees. The claw con-
sists of three functions, wrist, rotate, & open-close. The wrist and rotate can
be used on both the keypad or joystick, the open and close are only the let-
ters “O” for open and “C” for close. When using the claw choose the claw
camera through the F7 function and the claw light can be activated by se-
lecting “L” button.

Trigger
Stow claw, lift
Stow claw, lift

Claw rotate right
Claw rotate left Claw rotate right
Un-stow
C
Open Claw Close Claw
Un-stow
Claw open & close are always keypad Claw rotate left
operations even for the joystick.
Use your F5 function to bring the elbow and shoulder to approximately 90 degrees before using claw.
You also must use only the wrist to bring claw forward before opening or rotating.
Press F6 to select your claw command. (Use F5 to un-stow arm first)
Press S button on the keypad to toggle your speed-slow, medium fast.
Press F6 to select your claw command (Use F5 to un-stow arm first)
Pull the trigger on the joystick than move the joystick in the direction you want to move. In this case only the joy-
stick moves the wrist function and the rotate function.. The joystick is variable speed the further you push away
from the home position the faster the claw will go. If you release the trigger the claw will stop moving.
Claw lights-Claw lights are activated from the “L” button on your keypad. This is an on/off function.
AVA-MKTG-022_C.000 39
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Operating Manual
Removing the Claw Section 8.01
There are only 3 screws that secure the claw to

the arm. Before removing the claw please see
how the cable is wrapped around the wrist, in
order to properly replace it. 1
2
To remove the claw;
Step 1-Remove the 2 screws located in the inner

part of the claw housing.
Step 2-Remove the screw located in the upper

part of the motor housing.
3
Step 3-Slide the claw off the wrist shaft.
2 & (11)
Claw Parts
6 5
3
1 & (12,13)
7
10 9
8 4
(1) CLAW MOTOR HOUSING VCL 110 000
(2) CLAW CAMERA HOUSING VCL 130 000
(3) GRIPPER FINGER VCL 120 008
(4) O-RING CORD VHWM-0663
(5) STANDOFF VHWM-0301
(6) GRIPPER OUTER FINGER VCL 120 004
(7) GRIPPER INNER FINGER LEFT VCL 120 005
(8) GRIPPER INNER FINGER RIGHT VCL 120 006
(9) LOCK NUT VHNT-L-25C
(10) GRIPPER CHEEK PLATE VCL 120 002
(11) COLOR CAMERA VHEC-0003 (not Shown)
(12) PINCER MOTOR VHEM-0005 (not Shown)
(13) ROTATE MOTOR VHEM-0004 (not Shown)
AVA-MKTG-022_C.000 40
Vanguard™ MK2
Operating Manual
F7 Camera Select Section 9.0
F7 on your keypad selects your camera select function. The camera select
function allows the operator to choose what camera the robot will use. There
are three camera to choose from on the robot and a fourth camera is used
when adding optional disrupters or specialized cameras. Camera select only
selects the camera views if you use F7 to look thought the main camera (Pan
& Tilt) it will not operate the Pan & tilt function, you can just hit the key-
board direction keys or select F8 function key.

Trigger
No Action
No Action
No Action
No Action No Action
No Action
No Action
No Action
The system is automatically set to show main camera (pan and tilt) on start up. Each time you press F7 it will
change to the next camera. They will always be selected in the following order:
(Default) Main Camera (pan & tilt)

(2) Claw Camera
(3) Drive Camera
(4) Weapons Camera (only when water disrupter is mounted) Note: If the weapon camera is not on the robot you
will still toggle through this screen, it will appear as a blue screen.
Under the viewing area of the screen there are 3 large function keys, one displays what function you are in, one dis-
plays what speed you are using and the third is what camera you are using. Each time you press F7 the camera se-
lected will appear in the camera select box, also by using the “P” speech button you will get audio confirmation of
what camera you selected.
There are no other keys needed for this operation, there is no joystick operation for this function. If you wish to
move the pan & tilt you can just hit the keyboard direction keys or select F8 function key.
To save a picture in the viewing area select F11 on your keypad, this will store the image in :my documents” folder.
AVA-MKTG-022_C.000 41
Vanguard™ MK2
Operating Manual
B Camera Settings
Section 9.01
(1) Drag your Video Source menu (2) Select Video Proc Amp menu
to the right of the video image to control camera settings.
(3) To save your setting press

on Apply before exiting menu.
Picture with not enough Picture with to much

brightness. brightness.
Press B to select your camera settings
These settings will allow you to adjust the image you see on the screen to the appropriate setting for brightness, con-
trast, hue & saturation. The brightness may have to be changed when driving from a poorly lit area to a brightly lit
area.
After choosing this function use your mouse to drag the pop up (1) Video Source menu to the right of the video im-
age. Now select (2) Video Proc Amp on the top menu bar. In this setting you will find your brightness, contrast,
hue, and saturation adjustments. In most cases you will only need to adjust the brightness to get a better picture; you
can try and play with all the settings to get exactly what you need.
Once you have adjusted your picture you must press (3) Apply to hold your settings before exiting the menu.
If you feel that you have made to many changes and have a hard time adjusting the settings press the Default to set
the picture back to its factory settings.
Note: A good way to check your settings is to plug in a TV monitor to the auxiliary RCA connectors located behind
your laptop and compare the picture color and brightness.
AVA-MKTG-022_C.000 42
Vanguard™ MK2
Operating Manual
F8 Pan, Tilt Zoom (PTZ) Section 10.0
% Zoom
Selecting arrow keys in the center of the keypad selects your pan, tilt function. This
function moves the main camera from side to side or up and down. Selecting [ to
zooms out and selecting ] zooms in to an object. Along with this feature is auto
speed, the more you zoom in the slower the pan & tilt motors will move. If you are
in another camera view simple hit any of the PTZ keys and this automatically
switches back to the PTZ camera or press F8.
] Zoom In
Keypad operation &
[ Zoom Out
These four keys operate your Pan & Tilt function,

these can be used simultaneously while driving the
robot.
Press to tilt up
Press to tilt down
Press to Pan left
Press to Pan Right
Press [ to zoom out (Z)
Press ] to zoom in (Z)
PTZ features
Continuous Pan–The Pan function has continuous 360 degree freedom. An internal slip ring allows for continuous
panning in either direction.
Auto Speed selection-The PTZ zoom function has auto speed function. Above the F8 key is a window this % of
zoom. The zoom % is from 0% to 100%. As the zoom percentage goes up the speeds for panning and tilting will
automatically slow down. This allows for precise movement when fully zoomed in on an object.
No joystick operation-The PTZ camera is only operated from the keyboard keys. All other motor function use the
arrow keys or joystick. This allows you to both drive with the arrow keys or joystick and pan the camera at the same
time.
AVA-MKTG-022_C.000 43
Vanguard™ MK2
Operating Manual
Removing the Pan & Tilt Section 10.01
The illustration below shows both the Pan & Tilt and Video system removal.
To remove the Pan & Tilt Camera

assembly, remove these two screws
To remove the Video modem, first remove

lower deck mount, then remove this screw
and slide the video modem assembly off
the tubes.
AVA-MKTG-022_C.000 44
Vanguard™ MK2
Operating Manual
Section 10.02
PTZ Parts
(1) Pan Assembly P/N VPT 110 000
(2) Tilt Assembly P/N VPT 120 000
(3) Zoom Camera Assembly P/N VPT 140 000
(11) Spring Plunger P/N VHSS-P-10F-0895
Zoom camera can be replaced with our op-

tional IR camera for low light situations.
Note: If the PTZ assembly starts to tilt side to side, you

may need to adjust these spring plunger screws. There
are four screws located around the base of the Pan As-
sembly. Do not over-tighten. The Pan assembly should
still be able to rotate by hand.
AVA-MKTG-022_C.000 45
Vanguard™ MK2
Operating Manual
L Claw Light F9 Main Light F10 Laser F11 Photo Section 11.0
Press L to toggle the Claw lights on and off.
Press F9 to activate the main LED lights on the front of the robot. This function is a 3 way toggle. When the
lights are off, select F9 to turn on high beam, the second time you press F9 is will go to low beam and a third
time to turn \off the lights. On the menu screen you will see F9(H) for high beam and F9(L) for low beam,
when the lights are completely off only F9 will be displayed.
Warning: Avoid direct eye contact with laser

Press F10 to toggle the Disrupter laser on and off.
The laser is attached to the water disrupter mount, and will only go on if this is installed. Lasers, in general, are
difficult to spot in daylight conditions, so this laser beam flashes to make it more visible.
Press F11 to save a picture at any time.
The photo function allows you to save the picture that appears in the viewing area.
By pressing F11 at any time, it will save that picture in the folder My Documents.
The folder is located on the desktop-simply hide the Interface by pressing the (-) minimize button located in the
upper right hand corner of the screen. Each photo is saved by date/time-you can take as many as you want and
each one will appear in “My Documents” folder in the order they are taken.
AVA-MKTG-022_C.000 46
Vanguard™ MK2
Operating Manual
T 2 Way Digital Audio Section 12.0
The audio is digital and travels over the communication link instead of the more traditional method of having audio
“Piggy back” over the video transmitter as analog. This ensures that the audio is crisp and clear at all times. The
audio is bi-directional and behaves as a CB radio. The two way audio requires the headset to be plugged in and can
be activated by either the keyboard keys or joystick. The speaker volume is controlled by Page UP, Page DN keys
located on the right side of the keyboard, for this function do not use the (FN) button as you would to adjust the
microphone volume. There is no volume control on the joystick

“Home” button resets
speaker output volume to a
central level.
(1) Press Right thumb
switch to activate Listen-
Speaker Volume Up ing, from the robot micro-
Page UP phones
Speaker Volume down
Page DN
(2) Press and Hold the Left

Thumb switch to talk through
(1) Press T to activate (2) Press and Hold the Space the robots speakers, release to
Listening, from the robot Bar to talk through the robots listen.
microphones speakers, release to listen.

Headset-Plug in both
connectors for headset.
Press T to activate the robots microphones for listening. Press a second time to shut of the micro-
phones.
The sound will come from the laptop speaker unless you plug in the headset. To adjust microphone
volume refer to page 15.
Press Space Bar if you want to talk through the robots speaker. While you are holding the space
bar the T menu button will change from Listen to Talk to let you know that it is properly working.
Speaker Volume Use the PgUp, PgDn buttons on the right side keypad to adjust the volume from
the speaker. The volume loudness is displayed in the help menu. Practice with the different settings
so you understand how loud the volume is compared to the db setting in the menu screen.
Home Button will reset your speaker volume to 0dB. The volume loudness is displayed in the help Note: You must unplug the audio plug to
menu as dB level. Home button sets the level to 0, and you can use the PgUp, PgDn button to go the RCA output before connecting the
louder or softer from the 0 level. Headset. Replace after headset use.
Quick Start Guide-Joystick operation they are loaded or having

trouble.
Press the Right Thumb Switch to activate the robots microphones for listening. Press a second
time to shut of the microphones. This is the same as pressing the T button on the keyboard.
Press the Left Thumb Switch if you want to talk through the robots speaker. While you are hold-
ing the thumb switch the T menu button will change from Listen to Talk to let you know that it is Microphones Speaker
properly working
AVA-MKTG-022_C.000 47
Vanguard™ MK2
Operating Manual
S Speed P Speech Z Tool Section 12.01
Press S to select your function speed.
Toggle through the 3 speeds: Slow, Medium and Fast. By default, upon startup the fast speed is selected. The claw
open and claw close functions also respond to the speed select toggle.
Speed with Joystick

Slow-in slow speed the joystick will to a maximum of slow.
Medium-in medium the joystick will go to a maximum of medium speed
Fast-in fast the joystick has full range of speed.
Press P to initiate the speech function and again to turn function off.
When enabled, the command station will speak the current function. For example, when the F1 key is pressed and
Drive mode is selected, the command station will audibly say "Drive". Speech confirmation ensures that the
proper function has been selected and minimizes mistakes when most of the concentration is focused on the video
screen. Make sure that the volume on the laptop is turned up. This may be used when the microphones “T” are on.
Note: If you turn on speech and you do not hear any audio feedback-check that you did not accidentally hit the
mute button that is next to your volume control buttons. Hold the (Fn) button and press the mute button again.
The tool function is an additional feature to the MK2 robot. It basically gives the operator auxiliary power to op-
erate tools or devices that require 24 Volts. It is possible to hook up 24 Volt cordless tools to be used with this
feature. This is up to the end user to determine what they may be able to use with this feature. It is highly recom-
mended that you check with an Allen-Vanguard engineer before hooking up any device.
Tool outlet-The tool outlet is located on the outer part of the electronics box on the deck of the robot.
Press Z to activate the tool function for use. No power is on at this point.
Press ALT-Z to open the 24 volt circuit to the tool circuit, press Z again to turn power off power to the tool cir-
cuit.
Note:All user commands can be made while the tool function is enabled except for the weapon circuit.
AVA-MKTG-022_C.000 48
Vanguard™ MK2
Operating Manual
Section 13.0
W Weapons Enable
Warning: Never pass in front of a Disrupter once it
has been loaded and mounted on the robot. Choose
the safest and most direct path towards your target.
Safe to load disrupter

Green LED
Countdown
Clock
Warning: power in disrupter
terminal Red LED
Weapon outlets for 1 and 2 are

clearly marked on the arm.
Upper arm of robot
Weapon Outlet (2) Weapon Outlet (1)
The Weapons Enable is the start of the firing sequence these steps must be followed in order to fire the Dis-
rupter. You must be lined up with your shot before arming the weapons systems. There are two separate firing
circuits located on the upper arm of the robot. They are independently fired, one at a time. You cannot fire from
both weapon circuits at the same time.
Step 1- Press W to enable the firing sequence.
Step 2-Choose from the number keys on the keyboard (1) for weapon outlet one, or (2) for weapon outlet two.
Step 2-Press A to arm the Weapon you have chosen.
After selecting (A) to arm the firing sequence, a 20 count clock will show up on the screen. If you do not fire the
shot in 20 seconds the, Weapons Enable will reset and you will have to start the sequence again.
Step 3-Press Shift & F12 to fire the Weapon, while holding the shift key down, press the F12 key. The firing
circuit is activated for 5 seconds. After 5 seconds, the firing sequence is complete and full control is restored to
the operator.
It is always good practice to test you firing circuit before loading any weapons. Using a volt meter go through
the firing sequence to make sure they are functioning properly.
Note: Do not hit any other keys once the firing sequence is armed. If you hit any key other then the Shift
+ F12, the firing sequence will abort.
AVA-MKTG-022_C.000 49
Vanguard™ MK2
Operating Manual
Chassis Section 14.0
The Chassis is the base of the MK2’s modular system. Most of the other components attach directly to the
chassis. The Chassis also contains the electronics box and batteries used control your robot. All of the robots
electronics are conveniently stored in the electronics box making it very easy to replace or upgrade.
10
11
5
6
7
8
(1) Battery Lid Assembly VDK 230 000

(2) Deck Plate VDK 200 007
(3) Light Assembly VDK 220 000
(4) Turret Assembly VDK 110 000
(5) Drive Camera Assembly VCH 120 000
(6) Waterproof Speaker VHEC-0012
(7) Speaker/Microphone Mount VCH 250 001
(8) MK2 Microphones VHEC-0011
(9) Control Box Assembly VEE 210 000
(10) Anti-Flip Mount VDS 130 000
(11) Rear Swivel Assembly VDS 121 000
AVA-MKTG-022_C.000 50
Vanguard™ MK2
Operating Manual
Removing Batteries Section 14.01

Located in the rear of the MK2 chassis is the battery compartment. To simply change battery packs do the fol-
lowing steps:
1. Make sure robot is turned off. Check that the green LED located on the upper arm marked power is off.
2. Loosen the (2) black knobs located on the battery lid, rotate the knobs to the side.
3. Holding onto the rear cage assembly tilt it back to expose the battery compartment.
4. Using the strap on the battery pack, lift and place battery pack on the right track.
5. Disconnect connector between the battery pack and robot.
6. Place used batteries on charging station.
7. Reverse steps to install freshly charged batteries.
Step 2-Loosen black Rotate knobs to the

knobs. side.
Step 4-Lift battery out and

Step 3-Holding onto the place on right track.
rear cage assembly, care-
fully tilt it back to expose
the battery compartment.
Step 5-Disconnect battery

connector.
Charging Batteries
The MK2 comes with a charging station complete with (2) 24-volt chargers, (2) battery packs and (1) 6 foot
charge cable. The battery packs can both be charged on the charging station or by using the 6 foot charge cable.
Charge one battery while it’s still in the robot. On each charger, there is a LED that lets you know if your battery
is charging (orange), fully charged (green). Batteries can be left on charge at all times-charger will not over-
charge or damage batteries.
Turn robot off before plugging in charger

Note: Always charge batteries after use. Do not store uncharged batteries.
6-foot charge cable Charging both packs
Chassis charge cable
AVA-MKTG-022_C.000 51
Vanguard™ MK2
Operating Manual
Battery Station Section 14.02

2
Parts List
1-P/N VPA-1534,-(2) 24VDC,1.5amp Chargers
2-P/N VPA-15823,-(2) Battery Packs
3-P/N VEA-15907,- 6 foot direct access charge cable 4
4-P/N VCC-10750,- Base with carrying handle
Item 1-24VDC Chargers

The Battery Station consists of (2) 24VDC chargers that are fastened to the main base. Each charger has its own
power cable and battery connector. The chargers can be used on either 110 or 220, suitable anywhere in the
world. These battery chargers have an automatic cut-off and true float. These can be connected indefinitely
without harming the battery. These chargers have built in protections such as, reverse polarity, short circuit,
over-voltage, over current, and AC surge protection.
Trouble Shooting-If the light indicator does not come on check that AC power cable is properly fastened to the
back of the charger.
Connecter Pin out
-check that you batteries are getting voltage from the 4 Pin charger connector.
Pin 1 (+) Positive 24-27 Volts
Pin 3 (-) Ground
Pin 4 (-)Ground
Using pins 1 & 3 or 2 & 4 check with a voltage meter that all line are delivering proper voltage.
Item 2-Battery Packs

Each battery pack contains (2) 12 VDC batteries hooked together in
series to give a 24VDC output to the robot. If you are having any
difficulty with the battery voltage simply remove the Velcro cover
and check that all leads are attached to the battery terminals.
Connector Pin out (Cable P/N VEA-15906)
-even if your batteries are reading the proper voltage from the termi-
nals always double check the connector pins.
Pin 3 (-) Ground
Pin 4 (-) Ground
Item 3-6 foot charge Cable (P/N VEA-15907)

This cable is used to charge a battery while still inside the robot. It runs from the charger connector to the con-
nector located on the back end of the robot.
Cable Connector Pin outs
Pin 1 (+)
Pin 2 (+)
Pin 3 (-)
Pin 4 (-)
AVA-MKTG-022_C.000 52
Vanguard™ MK2
Operating Manual
Replacing Internal Electronics Box Section 14.03

Robot must be turned off and batteries removed.
Step 1– open battery lid compartment to see internal con-

nectors. Step 4
Step 2-Remove all connectors to the electronics box located Step 3

on the deck and inside the battery compartment, including
the connection to the data antenna. Step 2
Step 3-Remove all screws located on the out edge of the

deck plate. Data Antenna
Step 4-Remove the screws holding the electronics box to the
deck.
Step 5– Once all of the screws have been removed, the

electronics box will drop through to the bottom of the chas-
sis.
Step 6-You can now carefully remove the deck plate from Step 7
the chassis.
Step 7-Remove the remaining connectors in the front of the

electronics box.
Step 8-Remove the electronics box.
AVA-MKTG-022_C.000 53
Vanguard™ MK2
Operating Manual
Section 15.0
Maintenance Kit
As with any mechanical devices, regular maintenance will have to be done at some point in time. We
have chosen a few tools to help maintain or repair the MK2 robot. Some tools are for a specific use;
see the list below for more information.
1) #2 Phillips Screw Driver (Main deck screws)

2) Allen hex key set (.050, 1/16, 3/32, 7/16, 1/8, 9/64, 5/32) General use
3) 3/16” T-Handle hex (Adding and removing wheel kit)
4) 5/64” Ball end hex drive (Laser calibration)
5) 5/16” Wrench (Arm screws)
6) 7/16” Wrench (Arm and rear cage removal)
7) ¾” Wrench (Track tension)
8) RCA cable (to hook up VCR or TV to CCU)
9) Laptop Hood (hood used to shade laptop in sunlight)
AVA-MKTG-022_C.000 54
Vanguard™ MK2
Operating Manual
Contact Office
If you have any queries please
contact us.
Allen-Vanguard
5459 Canotek Road
Ottawa, Ontario, Canada, K1J 9M3
Tel: +1 613 747-3590
Fax: +1 613 747-0723
TOLL FREE: 1-866-747-3590
email: sales@allen-vanguard.com
e-mail: customer.service@allen-vanguard.com
Allen-Vanguard (Canada) Allen-Vanguard (USA) Allen-Vanguard (UK)

5459 Canotek Road 11490 Commerce Park Drive, Allen House, Alexandra Way
Ottawa Ontario Suite 360, Reston, Ashchurch Business Centre
Canada K1J 9M3 Virginia, 20191 USA Tewkesbury, Glos. GL20 8TD UK
Tel: +1 613 747-3590 Tel: +1 613 747-3590 Tel: +44 (0) 1684 851111
TOLL FREE: 1-866-747-3590 TOLL FREE: 1-866-747-3590 Fax: +44 (0) 1684 851101
Fax: +1 613 747-0723 Fax: +1 613 747-0723 email: sales@allen-vanguard.co.uk
email: sales@allen-vanguard.com email: sales@allen-vanguard.com
AVA-MKTG-022_C.000
www.allen-vanguard.com

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1) Product Serial No.

TECHNICAL CUSTOMER SUPPORT

Call + (613) 749-8343

Call + (613) 747-3590

2-independent firing circuits

Video transmitter with flexible

PTZ-Color Zoom Camera

Shoulder & Turret

(2) High & Low beam

(2) 3”.0 wide Track System

(2) Lifting Handle

Color Drive Camera

Modular Sections Assembly part #

The Vanguard MK2 robot comes with these following items

Wheel Conversion Kit & Anti-Flip Mount

Tether Storage Reel

Command & Control Unit (CCU)

Feature Qty Description

Command Station 1 Laptop with Robot interface software

RF System P/N 3VCS10580

Reusable Transit Case P/N 3VPA15845

Recoilless PAN Disrupter Mount P/N 3VOE500000

IR Camera P/N 3VOE210000

20 MM Recoilless Disrupter P/N 3VPA15840

Remote RF System P/N 3VLS10580

Heads Up Display P/N 3VPA15841

Telescopic pole for video

Interface help menu

RF to tether switch DC power, laptop On/Off

Features behind the laptop

Help menu, guides you

Simple Functionality-how it works

These are the files you may need or want to access:

Robot on/off switch located on the back of the chassis

Data modem connector 5

Only plug in if using

Main power switch 7

RF to Tether switch 8 AC/DC laptop switch 9

Data modem connector 4 Video receiver connector 3 Telescopic 3

Only plug in if using

Main power switch 6

RF to Tether switch 7 AC/DC laptop switch 8

Trouble shooting Audio

No audio microphones only

Radio Link Status

Trouble shooting -No Radio Link

Battery Warning Indicator

Battery Indicator Chart

The joystick must be plugged

Joystick USB connection (A) Place mount on edge of

1. MK2 interface must be off.

Anti-flip mount, must

1.0” quick pin 1.5” quick pin

10-foot tether adapter plug in, plugs into CCU deck

Tether Reel Parts Section 2.09

1 VTR 110 000 (ASSEMBLY)

Item 4 & 6-Robot & CCU Connectors

Connector Pin outs

Item 10-(far side) Slip Ring Cover

Charging the CCU & Laptop Section 2.10

(2) AC receptacle On/Off (1) AC cord receptacle

(3) Main CCU On/Off

(4) AC/DC switch