Pioneer 2TM, 3TM manual Appendix C, Radio Modem Settings

ActivMedia Robotics

Appendix C

RADIO MODEM SETTINGS

The radio modem-based wireless serial accessory comes pre-configured for use with your ActivMedia robot for client-server connections. One modem comes installed in the robot (robot’s HOST serial port pins 7 and 8 jumpered; powered 5 VDC from RADIO switch). All you need to do is attach the other radio modem to a free serial port on your PC and provide power—no other setup is required.

You may examine and alter your radio modem settings, such as to match a new baud rate. Use Hyperterminal, minicom, or other simple terminal program. Default settings are DCE for the host and DTE for the H8S-based Pioneers, and 9,600 baud, 8 bits data, 1 stop bit, no parity. Once connected, all modem control commands begin with "WM". For example, "WMS2" at the host connects the host modem to the robot’s modem.

Command	Description
WMBx	Set up the default baud rate. x=1 : 115200 , 2 :		57600		,
	3 : 38400 , 4 : 19200 , 5 : 9600.
WMD	Disconnect the radio link established previously.
WMEx	Set up echo and response function. x= ’A’ ~ ‘P’.
WMFxxxx	Set up the maximum frame length. xxxx must be at		most		a
	4-digit decimal number and ranging from 1 to 1024.
WMIxxxxxx	Set up the group identification code. xxxxxx must be
	exactly a 6-digit hexadecimal number. The group ID is
	used to ensure that each connection within the group can
	be created successfully only if the group ID is the same.
WMJxxx…	Change the identification name to xxx…. The length of
	xxx… cannot exceed 32 letters.
WML	List current setting. The format is as follows:
WMMxxx	Set up my address. xxx must be at most a 3-digit decimal
	number and ranging from 1 to 255.
WMN	From command mode return to data mode.
WMOxxx…	Set up the partner PN code. See WMP.
WMPxxx…	Older units have to set up your own PN codes. xxx... must
	be exactly a 32-digit hexadecimal number.
	Newer units xxx is a number 1-23; match with pair modem.
WMQx	Query remote setting.
WMRx	Set up the remote output destination. x=P : printer port,
	x=R : RS-232 port.
WMSxxx	Create a radio link with the partner addressed		by	xxx.
	Xxx must be at most a 3-digit decimal number and ranging
	from 1 to 255. After establishing the link, the async.
	interface will	enter data transmission mode until
	receiving ESCAPE	sequence. The ESCAPE sequence consists
	of three contiguous ‘’ characters and a <CR>. After the
	reception of ESCAPE sequence, the async. interface			will
	re-enter into command mode. Note that robot’s modem			xxx
	is 2.
	From data mode escape to command mode. A delay of 100 ms
followed by	is needed between the return and any following			data
<CR> key	input.

73