1. Introduction to CNDE
2. CNDE data frame protocol format
3. CNDE function operation
3.1. Input configuration and input data
3.2. Output configuration and output data
3.2.1. Output configuration
3.2.2. Output start and stop
3.2.3. The client receives the output data
3.3. CNDE auxiliary function
3.3.1. Messages
3.3.2. Switch the version number of CNDE protocol of robot
3.3.3. Acquire that version information of the robot soft firmware
4. Robot input and output register
4.1. Read input register
4.2. Write output register
4.3. CNDE input,output register interactive application
