AgileX SCOUT MINI, Руководство пользователя

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AgileX robotics (Dongguan) Co., Ltd.
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Table 3.5 No. 1 Motor Information Feedback
Command
Name
No. 1 Motor Drive Information Feedback Frame
Sending node Receiving node
ID
Cycle (ms)
Receive-timeout
(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x200 20ms
None
Data length 0x08
Position Function Data type Description
byte [0]
No. 1 drive current
higher 8 bits
unsigned int16
Actual current X 10 (with an accuracy of
0.1A)
byte [1]
No. 1 drive current
lower 8 bits
byte [2]
No. 1 drive rotational
speed higher 8 bits
signed int16 Actual motor shaft velocity (RPM)
byte [3]
No. 1 drive rotational
speed lower 8 bits
byte [4] No. 1 drive temperature signed int8
Actual temperature (with an accuracy of
1℃)
byte [5]
No. 1 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 3.6 No. 2 Motor Information Feedback
Command Name No. 2 Motor Drive Information Feedback Frame
Sending node Receiving node ID Cycle (ms)
Receive-timeout
(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x201
20ms
None
Data length 0x08
Position Function Data type Description
byte [0]
No. 2 drive current
higher 8 bits
unsigned int16
Actual current X 10 (with an accuracy of
0.1A)
byte [1]
No. 2 drive current
lower 8 bits
byte [2]
No. 2 drive
rotational speed
higher 8 bits
signed int16 Actual motor shaft velocity (RPM)
byte [3]
No. 2 drive
rotational speed
lower 8 bits