Robot Motor, Velocity And Position Control - Omron Pioneer LX User Manual

Table of Contents
OPEN 1
CLOSE 2
RESET 253

Robot Motor, Velocity and Position Control:

See Robots in Motion on page 52 discussion. To stop the robot, send STOP, or VEL, RVEL commands
with 0 argument values.
Command # Args
ENABLE 4 int
VEL 11 int
RVEL 21 int
ROTATE 9 int
HEAD 12 int
DHEAD 13 int
Configure Acceleration and Deceleration Parameters
See Robots in Motion on page 52.
SETA 5
Page 125 of 134
watchdog from triggering. (See below.)
none Start sending data.
none Stop sending data and close client connection.
none Force reset of the microcontroller.
Description
1=enable; 0=disable the motors.
Set velocity for forward/backward translation
(mm/sec). May be combined with RVEL for
simultaneous motion. Maximum speed is limited
with SETV and stored firmware parameter.
Set rotation velocity (degrees/sec). Positive
argument values rotate counter-clockwise,
negative value rotate clockwise. May be
combined with VEL for simultaneous motion.
Maximum speed is limited with SETRV and
stored firmware parameter. (This command
replaces ROTATE; commands are equivalent.)
See RVEL.
Turn to given absolute heading. (+ =
counterclockwise). Speed used is given by
SETRV.
Turn to given offset from current heading
(degrees) (+) counter- or (–) clockwise. Speed
is given by SETRV.
int If positive, set acceleration used for VEL, VEL2,
MOVE commands, in mm/sec
ArRobot::enableMotors()
ArRobot::disableMotors()
ArRobot::setVel()
or use ArAction objects
ArRobot::setRotVel()
or use ArAction objects
ArRobot::setHeading()
or use ArAction objects
ArRobot::setDeltaHeading()
or use ArAction objects
2
ARIA Function (s)
ArRobot::setAccel()