Other - Omron Pioneer LX User Manual

Table of Contents
ACCELINFO 123 int
TORQUEDATA 124 int

Other

BATTEST 250 int Artificially set the battery voltage; argument in tens volts (100=10V); 0 to revert
to real voltage
RESET 253 int Restart controller firmware
2.5 Command Packet Errors
The robot controller ignores a client command packet whose Byte Count exceeds 204 (total packet size of
207 bytes) or has an erroneous Checksum. The client should similarly ignore erroneous SIPs.
It is intended that client software will typically continually request its desired motion state by sending
motion commands (e.g. VEL, RVEL) on each SIP cycle. ARIA does this via its "state reflection" task cycle.
See the ARIA API Reference Documentation for more information.
2.6 Establishing the connection
When first started or reset, the robot controller is in a waiting state, listening for communication packets
to establish a client-server connection. To establish a connection, the client application must open the
serial connection, then send a series of three synchronization packets containing the SYNC0, SYNC1 and
SYNC2, waiting for response from the robot controller after each packet, before sending the next. The
robot controller echoes each SYNC packet verbatim back to the client. The client should listen for the
returned packets and only issue the next synchronization packet after it has received the appropriate echo
response.
Page 127 of 134
Request accelerometer diagnostic info.
FLAGS (uchar), THETA (int16), RMS1 (int16), MAX1 (int16), RMS2,
MAX2, RMS3, MAX3.
FLAGS (uchar), then for each drive motor: current (int16), command
speed (int16), speed (int16).