Robot Communication

• 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
  • 3.4. End-Effector Transparent Transmission Function Periodic Data Acquisition (CNDE)
    • 3.4.1. CNDE Configuration Description
• 4. Robot input and output register
  • 4.1. Read input register
  • 4.2. Write output register
  • 4.3. CNDE input,output register interactive application