Connection Initialization And Maintenance Commands - Omron Pioneer LX User Manual

Table of Contents
Field Size
(bytes)
header 2
byte count 1
1
packet type
or command
identifier
data type 1
data n
checksum 2

Connection Initialization and Maintenance Commands:

"byte" indicates a single byte value (usually unsigned). "int" indicates a signed 16-bit (2-byte) integer
value (LSB). "uint" indicates an unsigned 16-bit (2-byte) integer value (LSB).
During Connection Initialization Handshake:
Command #
SYNC0 0
SYNC1 1
SYNC2 2
After Established Connection:
PULSE 0
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Value
0xFA, 0xFB Packet header; same for client and server
Number of command/argument bytes plus Checksum's
two bytes, but not including Byte Count itself or the
header bytes. Maximum of 249.
0 - 255 Packet type or command identifier (see below for lists).
0x3B (positive 0x3B indicates that a 16-bit (2-byte) integer follows.
integer),
0x1B indicates that a 16-bit (2-byte) integer follows,
0x1B (negative whose value should be negated
or unsigned
0x2B indicates that a length-prefixed string follows. The
integer),
length prefix is one byte.
0x2B (string)
Argument data
Packet integrity checksum
Args
none Start connection. Send in sequence. ARCOS echoes
none synchronization commands back to client, and
none robot-specific auto-synchronization after SYNC2.
none Reset server watchdog timeout. Send this command periodically if not
sending any other commands to maintain connection and prevent
Description
Description