ROBOTOUS RFT Series - Read Data Output Rate; Allowable Data Output Rate

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ID R1 R2 XX XX XX XX XX XX XX XX XX XX XX XX XX
 ID : Response ID = 15(0x0F) <same with command ID>
 R1 : Result of command processing [1(0x01): success, 0(0x00): failure]
 R2 : Refer to Section 3.6.19 Error Code
for error code
 Notice:
- High data output rate may not work at a low baud-rate.
- Please refer to Section 3.6.16 Allowable Data Output Rate
3.6.15. Read Data Output Rate
 Data field of command packet(8byte) (XX : Don't care)
Data Field
D1 D2 D3 D4 D5 D6 D7 D8
ID XX XX XX XX XX XX XX
 ID : Command ID = 16(0x10)
 Data field of response packet(16byte) (XX : Don't care)
Data Field
D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16
ID R1 XX XX XX XX XX XX XX XX XX XX XX XX XX XX
 ID : Response ID = 16(0x10) <same with command ID>
 R1 : Refer to Section 3.6.16 Allowable Data Output Rate
3.6.16. Allowable Data Output Rate
 CAN Interface
Communication Output Rate Parameter (Output rate, Hz)
Baud-rate Parameter
0x00
(200)
0x01
(10)
0x02
(20)
0x03
(50)
0x04
(100)
0x05
(200)
0x06
(333)
0x07
(500)
0x08
(1000)
XX 1Mbps
O O O O O O O O O
 Default Baud-rate: 1Mbps Fixed
 Default Output-rate: 0 [200Hz]
 UART Interface
Communication Output Rate Parameter (Output rate, Hz)
Baud-rate Parameter
0
(200)
1
(10)
2
(20)
3
(50)
4
(100)
5
(200)
6
(333)
7
(500)
8
(1000)
0 115,200bps
O O O O O O O X X
1 921,600bps
O O O O O O O O O
2 460,800bps
O O O O O O O O X
3 230,400bps
O O O O O O O O X
4 115,200bps
O O O O O O O X X
5 57,600bps
O O O O O O X X X