The communication protocol of CNDE for cooperative robots is as follows. The protocol distinguishes data frames with different functions by frame types. See Table 2-2 for the definition of frame types. Different types of frames correspond to different data content. See Table 3-1 ~ Table 3-7 for specific data content definitions.
Table 2-1 Data Frame Format of Robot CNDE
Name | Frame header | Frame count | Frame type | Data length | Content | Frame end |
Length(byte) | 2 | 1 | 1 | 2 | – | 2 |
Content | 0x5A5A | 0 ~ 255 | 0 ~ 8 | Number of bytes of “content” | Data frame content | 0xA5A5 |
Table 2-2 Data Frame Types of Robot CNDE
Type | Numerical value | Data frame direction |
Input Configuration Frame (Control Configuration) | 0x00 | Client->Robot |
Output Configuration Frame (Status Configuration) | 0x01 | Client->Robot |
CNDE output start | 0x02 | Client->Robot |
CNDE output stops | 0x03 | Client->Robot |
Output data frame (status data) | 0x04 | Robot->Client |
Input data frame (control data) | 0x05 | Client->Robot |
Message | 0x06 | Client->Robot, Robot->Client |
Set the version number of CNDE protocol of robot | 0x07 | Client->Robot |
Obtain the robot soft firmware version | 0x08 | Client->Robot, Robot->Client |