AgileX robotics (Dongguan) Co., Ltd.
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byte [4]
No.2 drive
temperature
signed int8
Actual temperature (with an accuracy of
1℃)
byte [5]
No. 2 motor
temperature
signed int8
Actual temperature (with an accuracy of
1℃)
byte [6]
Count parity bit
(count)
unsigned int8
0 - 255 counting loops, which will be added
once every command sent
byte [7]
Parity bit
(checksum)
unsigned int8
Parity bit
Table 3.7
No. 3 Motor Information Feedback
Command Name
No. 3 Motor Drive Information Feedback Frame
Sending node
Receiving node
ID
Cycle (ms)
Receive-timeout
(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x202
20ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
No. 3 drive current
higher 8 bits
unsigned int16
Actual current X 10 (with an accuracy of
0.1A)
byte [1]
No. 3 drive current
lower 8 bits
byte [2]
No. 3 drive rotational
speed higher 8 bits
signed int16
Actual motor shaft velocity (RPM)
byte [3]
No. 3 drive rotational
speed lower 8 bits
byte [4]
No. 3 drive temperature
signed int8
Actual temperature (with an accuracy of
1℃)
byte [5]
No. 3 motor
temperature
signed int8
Actual temperature (with an accuracy of
1℃)
byte [6]
Count parity bit (count)
unsigned int8
0 - 255 counting loops, which will be added
once every command sent
byte [7]
Parity bit (checksum)
unsigned int8
Parity bit
Table 3.8
No. 4 Motor Information Feedback
Command Name
No. 4 Motor Drive Information Feedback Frame
Sending node
Receiving node
ID
Cycle (ms)
Receive-timeout
(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x203
20ms
None
Data length
0x08
Position
Function
Data type
Description
