AgileX TRACER MINI - Page 23

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Note[1] Control mode description
The default control mode is the standby mode, and you need to switch to the command mode to
send the motion control command. If the remote control is turned on, it has the highest authority
and can block the control of commands. When the remote control switches to the command
mode, it still needs to send the control mode setting command before responding to the speed
command.
The state setting frame is used to clear system errors, and its specific protocol content is shown in
Table 3.8.
Table 3.8 State setting frame description table
Command name Controlmodesettingcommand
Sendingnode Receivingnode ID Cycle （ ms ）
ReceivingTimeo
ut(ms)
Wire-controlled
chassis
Decisioncontrol
unit
0x421 None None
Datalength 0x01
Position Function Datatype Description
byte[0]
Controlmode
unsignedint8
0x00Standbymode
0x01 CAN command control
mode[1]
Enterstandbymodebydefaultafter
poweron
Command name Statesettingcommand
Sendingnode Receivingnode ID Cycle （ ms ）
ReceivingTimeo
ut (ms)
Wire-controlled
chassis
Decisioncontrol
unit
0x441 None None
Datalength 0x01