Configure Maximum Speeds - Omron Pioneer LX User Manual

Table of Contents
SETRA 23 int If positive, set rotation acceleration used for RVEL,

Configure Maximum Speeds

See Robots in Motion discussion See "Robots in Motion" on page 52.
These limits will be used until changed using these commands, or until the end of the client session. They
are reset to defaults in new client connections or if the controller is reset.
SETV
SETRV 10 int Sets maximum turn rotation velocity, which is also
Reset Position
SETO
Joystick
Use the ArJoyHandler class in ARIA.
JOYDRIVE 47 int 1=allow joystick drive from port while connected with a
client; 0 (default) disallows.
JOYREQUEST 17 int Request one or continuous stream (>1) or stop (0)
joystick packets
Additional SIP Requests
CONFIG 18
WHEELINFO 218 int
Page 126 of 134
If negative, set rotation deceleration used for VEL,
VEL2, MOVE commands, in mm/sec
ROTATE, HEAD, DHEAD commands, in degrees/sec
If negative, set rotation deceleration used for RVEL,
ROTATE, HEAD, DHEAD commands, in degrees/sec
Sets maximum translation velocity, which is also
used by MOVE command. Degrees/sec.
used by HEAD, DHEAD commands; degrees/sec.
7 none Reset position estimate given in standard SIP
to 0,0,0..
none Request one robot configuration SIP. See CONFIGpac description
below.
Request detailed drive wheel motor info text. (3 to send continuous,
0 to stop.) Packets contain ASCII text with motor diagnostic
info: Wheel, Torque (A), TargetVel, ActualVel.
ArRobot::setDecel()
2
or use ArAction objects
ArRobot::setRotAccel()
2
ArRobot::setRotDecel()
or use ArAction objects
2
ArRobot::setMaxVel()
or use ArAction objects
ArRobot::setMaxRotVel()
or use ArAction objects
ArRobot::moveTo()
Use ArJoyHandler
object