Omron Pioneer LX User Manual page 129

Table of Contents
Additionaly configuration and other information is stored in the robot parameters, (see
ArRobot::getRobotParams()), which ARIA determines from the robot subtype and by loading robot
parameter files.
CONFIG packet contents:
Field Data
Type
Packet Header int
Packet Byte count byte
Packet type byte
Robot type str
Subtype str
Sernum str
4mots byte
Rotveltop int
Transveltop int
Rotacctop int
Transacctop int
PWMmax int
Name str
SIPcycle byte
Hostbaud byte
Aux1baud byte
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Common packet header = 0xFA, 0xFB
Number of following data bytes
CONFIG packet type identifier = 0x20
"MTX"
"pioneer-lx" (or "marc-devel" or early revisions)
Serial number for the robot.
unused
Maximum rotation velocity; deg/sec
Maximum translation speed; mm/sec
Maximum rotation (de)acceleration; deg/sec
Maximum translation (de)acceleration; mm/sec
unused on Pioneer LX
Robot name.
Server information packet cycle time; ms.
Baud rate for client-server HOST serial: 0=9.6k, 1=19.2k, 2=38.4k,
3=56.8k, 4=115.2k.
Unused on Pioneer LX
Description
2
2