AgileX Robotics (Dongguan) Co.,Ltd.
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[3]: The over-temperature protection of motor drive and the motor over-current protection
will be internally processed. When the temperature of motor drive is higher than the
protective temperature, the drive output will be limited, the vehicle will slowly stop, and the
control value of movement control command will become invalid. This flag bit will not be
actively cleared, which needs the upper computer to send the command of clearing failure
protection. Once the command is cleared, the movement control command can only be
executed normally.
The command of movement control feedback frame includes the feedback of current linear
speed and angular speed of moving vehicle body. For the detailed content of protocol, please
refer to Table 3.3.
Table 3.3 Movement Control Feedback Frame
Command Name
Movement Control Feedback Command
Sending node
Receiving node
ID
Cycle (ms)
Receive-timeout
(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x131
20ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
Moving speed
higher 8 bits
signed int16
Actual speed X 1000 (with an accuracy of
0.001m/s)
byte [1]
Moving speed
lower 8 bits
byte [2]
Rotational speed
higher 8 bits
signed int16
Actual speed X 1000 (with an accuracy of
0.001rad/s)
byte [3]
Rotational speed
lower 8 bits
byte [4]
Reserved
-
0x00
byte [5]
Reserved
-
0x00
byte [6]
Count paritybit
(count)
unsigned int8
0 - 255 counting loops, which will be
added once every command sent
byte [7]
Parity bit
(checksum)
unsigned int8
Parity bit
The control frame includes mode control, failure clearing command, control openness of linear speed,
control openness of angular speed and checksum. For its detailed content of protocol, please refer to
Table 3.4.
Table 3.4 Control Frame of Movement Control Command
Command Name
Control Command
Sending node
Receiving node
ID
Cycle (ms)
Receive-timeout
(ms)
Decision-making
control unit
Chassis node
0x130
20ms
500ms
Data length
0x08
