1. Introduction to CNDE

Collaborative robot configurable network data exchange protocol (CNDE) is a way for the client to control the robot and obtain the feedback status of the robot through UDP communication.

Table 1-1 shows all the states of the robot that can be obtained by CNDE. The client can arbitrarily select several required states from the table and make the robot perform state feedback according to the set feedback period.

Similarly, the client can also select the required robot control function combinations from Table 1-2 to perform robot control operations. The communication data between the client and the robot CNDE must comply with the specified frame format. The robot CNDE communication ports are 20005 and 20006. Port 20005 is used for TCP communication, and port 20006 is used for UDP communication.

There are four main steps to use the CNDE function of robot:

①Configuration of input and output data content: the client sends an input and output configuration command to the robot, in which the command content is in the form of a series of control or state function names such as “std_DI_box,cfg_DI_box, motion_queue_len”, and the robot records and recognizes these names and then feeds back the corresponding function data types such as “UINT8,UINT8,INT32” to the client, which indicates that the configuration is successful.

②Start the CNDE data output of the robot: the client sends a command to start the CNDE data output to the robot, and the robot starts to send the robot state data to the client through UDP in the form of byte array (Little Endian) according to the configured period.

③Analyze the robot state data: the client receives the state data fed back by the robot circularly, and analyzes the data according to the data types fed back by the robot during output configuration and the byte length corresponding to each data type in Table 1-3 to obtain the actual value of each state. The output data of robot CNDE can support up to 4096 bytes, The CNDE output period ranges from 1 ms to 200ms.

④Sending robot control data: the client groups the control data according to the data types fed back by the robot during input configuration and the byte length corresponding to each data type in Table 1-3, and sends it to the robot through UDP communication. After receiving the control data, the robot performs data analysis and robot control operations. The CNDE input of the robot supports 256 recipes, and the client can configure multiple input recipes as needed. When sending the input data to the robot, it is necessary to specify the recipe number corresponding to the current data.

Table 1-1 Robot Output Configuration Function

Name	Data type	Description
std_DI_box	UINT8	Control box standard DI input (bit0 ~ bit7 indicates DI0 ~ DI7)
cfg_DI_box	UINT8	Control box configurable CI input (bit0 ~ bit7 indicates CI0 ~ CI7)
cfg_DI_tool	UINT8	Configurable tool DI inputs (bit0 ~ bit2 indicates toolDI0 ~ toolDI1)
std_AI0_box	DOUBLE	Control box analog input AI0(0 ~ 4095)
std_AI1_box	DOUBLE	Control box analog input AI1(0 ~ 4095)
std_AI_tool	DOUBLE	Analog input of end tool tool_AI0(0 ~ 4095)
run_up_time	DOUBLE	Statistics of Robot Boot Time (s)
target_joint_pos	DOUBLE_6	Target position of joint 1-6 (°)
target_joint_vel	DOUBLE_6	Target speed of joints 1-6 (°/s)
target_joint_acc	DOUBLE_6	Target acceleration of joints 1-6 (°/s2)
target_joint_current	DOUBLE_6	Joint 1-6 target current (A)
target_joint_torque	DOUBLE_6	Target torque of joints 1-6 (Nm)
actual_joint_pos	DOUBLE_6	Current position of joints 1-6 (°)
actual_joint_vel	DOUBLE_6	Current speed of joints 1-6 (°/s)
actual_joint_current	DOUBLE_6	Current current of joints 1-6 (A)
actual_joint_torque	DOUBLE_6	Joint 1-6 target torque (Nm)
actual_TCP_pos	DOUBLE_6	Current position of tool DKR(mm)
actual_TCP_vel	DOUBLE_6	Current tool speed DKR(mm/s)
actual_TCP_force	DOUBLE_6	Tool resultant force DKR(mm/s2)
target_TCP_pos	DOUBLE_6	Tool target position DKR(mm)
target_TCP_vel	DOUBLE_6	Tool target speed DKR(mm/s)
std_DO_box	UINT8	Standard DO output of control box (bit0 ~ bit7 indicates DO0 ~ DO7)
cfg_DO_box	UINT8	Control box configurable with CO output (bit0 ~ bit7 indicates CO0 ~ CO7)
cfg_DO_tool	UINT8	Standard tool DO output (bit0 ~ bit1 indicates toolDO0 ~ toolDO1)
std_AO0_box	DOUBLE	Control box analog AO0 (0.0 ~ 4095.0)
std_AO1_box	DOUBLE	Control box analog AO1 (0.0 ~ 4095.0)
std_AO_tool	DOUBLE	Tool analog AO1 (0.0 ~ 4095.0)
robot_mode	UINT8	Robot mode (0- automatic; 1- Manual)
collision_level	UINT8_6	Joint 1-6 collision grade (1-10)
speed_scaling_man	DOUBLE	Manual mode speed percentage (0 ~ 100)
speed_scaling_auto	DOUBLE	Automatic mode speed percentage (0 ~ 100)
program_state	UINT8	Robot program running state (1- stop; 2- in motion; 3- pause; 4- Drag)
line_number	INT32	Current program running line number
payload	DOUBLE	Load mass (kg)
pay_cog	DOUBLE_3	Load centroid (x,y,z)(mm)
motion_queue_len	INT32	Current motion queue length
ft_sensor_data	DOUBLE_6	Force sensor raw data
main_code	INT32	Main fault code
sub_code	INT32	Sub fault code
emergency_stop	UINT8	Emergency stop status
motion_done	INT32	Motion completion status
timestamp_us	UINT64	Robot system time (us)
output_BIT_reg_8xX	UINT8_X	BIT-type robot output registers (8xX indicates the number of registers, if you need 16 BIT-type output registers, the actual name is “output_BIT_reg_8x2”, and the robot can support up to 128 bit-type output registers)
output_INT_reg_X	INT32_X	INT robot output registers (X represents the number of registers. If you need 16 INT output registers, the actual name is “output_INT_reg_16”, and the robot can support up to 64 INT output registers)
output_DOUBLE_reg_X	DOUBLE_X	DOUBLE robot output register (X represents the number of registers, if you need 16 DOUBLE output registers, the actual name is “output_DOUBLE_reg_16”, and the robot can support up to 64 DOUBLE output registers)
servoj_time	UINT64_5	servoj timestamp data, unit ns
actual_joint_temp	DOUBLE_6	Joint j1-j6 driver temperature, unit °
axle_gen_com_data	UINT8_130	End-effector general periodic data
abnormal_stop	UINT8	Abnormal status, 0: no abnormality, 1: abnormality present
cur_lua_file_name	UINT8_256	Currently running lua file name
prog_total_line	UINT8	Total number of lines in current file
safety_box_signal	UINT8_6	Button box key signal 0: pressed 1: released
welding_voltage	DOUBLE	Actual welding voltage, unit V
welding_current	DOUBLE	Actual welding current, unit A
welding_track_speed	DOUBLE	Weld seam tracking speed, unit mm/s
tpd_exception	UINT8	TPD exception
alarm_reboot_robot	UINT8	Robot restart warning
modbus_master_connect	UINT8	Connection status of 8 Modbus masters bit0-bit7 represent masters 0-7, 0-not connected, 1-connected
modbus_slave_connect	UINT8	Modbus slave connection status, 0-not connected, 1-connected
btn_box_stop_signal	UINT8	Emergency stop button signal
drag_alarm	UINT8	Drag warning
safety_door_alarm	UINT8	Safety door warning, 0 no warning, 1 safety door triggered
safety_plane_alarm	UINT8	Safety wall warning, 0 no warning, 1 entering safety wall
motion_alarm	UINT8	Motion warning, 0-no warning, 1-LIN instruction posture change too large, 2-TCP overspeed, 3-Collision occurred, 4-Axis 1 exceeded maximum speed, 5-Axis 2 exceeded maximum speed, 6-Axis 3 exceeded maximum speed, 7-Axis 4 exceeded maximum speed, 8-Axis 5 exceeded maximum speed, 9-Axis 6 exceeded maximum speed, 10-Axis 1 joint command and feedback deviation too large, 11-Axis 2 joint command and feedback deviation too large, 12-Axis 3 joint command and feedback deviation too large, 13-Axis 4 joint command and feedback deviation too large, 14-Axis 5 joint command and feedback deviation too large, 15-Axis 6 joint command and feedback deviation too large, 16-Singular posture, 17-LIN instruction motion speed adaptive, 18-Target speed adjustment timeout or incomplete, 19-Rotary insertion motion failed, 20-Helical insertion motion failed, 21-Linear insertion motion failed, 22-Surface positioning motion failed
interfere_alarm	UINT8	Interference area warning, 0 no warning, 1 entering interference area
udp_cmd_state	INT32	UDP connection status
weld_ready_state	UINT8	Welder ready status, 1: ready, 0: welder error
alarm_check_emerg_stop_btn	UINT8	Joint communication abnormality warning
ts_tm_cmd_com_error	UINT8	Torque system command error
ts_tm_state_com_error	UINT8	Torque system status error
ctrl_box_error	INT32	Control box error
safety_data_state	UINT8	Safety data status flag, 0 no abnormality, 1-abnormality
force_sensor_err_state	UINT8	Force sensor connection timeout fault; bit0-bit1 correspond to force sensor ID1-ID2
ctrl_open_lua_errcode	UINT8_4	Controller open protocol error code
servo_id	UINT8	Servo driver ID number
servo_errcode	INT32	Servo driver fault code
servo_state	INT32	Servo driver status
servo_actual_pos	DOUBLE	Servo current position
servo_actual_speed	DOUBLE	Servo current speed
servo_actual_torque	DOUBLE	Servo current torque
gripper_active	INT32	Gripper activation status
gripper_position	UINT8	Gripper position feedback (percentage)
gripper_speed	INT32	Gripper speed feedback (percentage)
gripper_current	INT32	Gripper current feedback (percentage)
gripper_temp	INT32	Gripper current temperature, unit °
gripper_voltage	INT32	Gripper current voltage, unit V
rotating_gripper_num	DOUBLE	Rotating gripper rotation count feedback
rotating_gripper_speed	UINT8	Rotating gripper rotation speed feedback (percentage)
rotating_gripper_tor	UINT8	Rotating gripper rotation torque feedback (percentage)
weld_break_off_state	UINT8	Welding interruption status: 0-welding not interrupted, 1-welding interrupted
weld_arc_state	UINT8	Welding arc status, 0-arc not interrupted, 1-arc interrupted
smarttool_state	UINT32	End-effector extended IO data (Smart-Tool)
tool_coord	DOUBLE_6	Current tool pose relative to end-effector
wobj_coord	DOUBLE_6	Current workpiece pose relative to base
exTool_coord	DOUBLE_6	Current external tool pose relative to tool
exAxis_coord	DOUBLE_6	Current external axis pose relative to base coordinate system
robot_state	UINT8	Robot running status, 1. Stopped; 2. Moving; 3. Paused; 4. Dragging
actual_flange_pos	DOUBLE_6	End-effector actual pose
target_TCP_cmpvel	DOUBLE_2	TCP command linear and angular velocity, unit mm/s, °/s
actual_TCP_cmpvel	DOUBLE_2	TCP actual linear and angular velocity, unit mm/s, °/s
tool_id	INT32	Tool number
wobj_id	INT32	Workpiece number
ft_sensor_raw_data	DOUBLE_6	End-effector force/torque - raw data in sensor coordinate system
ft_sensor_active	UINT8	Force/torque sensor activation status
gripper_motion_done	UINT8	Gripper motion completed
collision_state	UINT8	Collision detection status
trajectory_pnum	INT32	Current sequence number of discrete point motion
safety_stop0_state	UINT8	Safety stop SI0 signal status
safety_stop1_state	UINT8	Safety stop SI1 signal status
gripper_fault_id	UINT8	Faulty gripper number
gripper_fault	INT32	Gripper error number
ext_DI_state	UINT8_16	Extended DI
ext_DO_state	UINT8_16	Extended DO
ext_AI_state	INT32_4	Extended AI
ext_AO_state	INT32_4	Extended AO
rbt_enable_state	INT32	Driver enable completion status
joint_driver_torque	DOUBLE_6	Actual torque values of joints j1-j6, unit Nm
robot_time	INT32_7	Robot system time, year, month, day, hour, minute, second, millisecond
software_upgrade_state	INT32	Robot software upgrade status
end_lua_err_code	INT32	End button signal status
wide_voltage_ctrl_box_temp	DOUBLE	Wide voltage control box temperature, unit °
wide_voltage_ctrl_box_fan_current	INT32	Wide voltage control box fan current
last_servoJ_target	DOUBLE_6	Last servoJ target command pose
servoJ_cmd_num	INT32	ServoJ command count
strange_pos_flag	UINT8	Singular posture flag
alarm	UINT8	Warning, 0-no warning, 1-Shoulder joint configuration change, 2-Elbow joint configuration change, 3-Wrist joint configuration change, 4-RPY initialization failed, 5-WaitDI wait timeout, 6-WaitAI wait timeout, 7-WaitToolDI wait timeout, 8-WaitToolAI wait timeout, 9-Arc start success DI not configured, 10-WaitAuxDI wait timeout, 11-WaitAuxAI wait timeout, 12-Unreachable point in swing trajectory, 13-Conveyor tracking pick point calculation failed, 14-Joint torque sensor data abnormality
dr_alarm	UINT8	Driver warning, 0-no warning, 1-Axis 1 driver warning, resettable, 2-Axis 2 driver warning, resettable, 3-Axis 3 driver warning, resettable, 4-Axis 4 driver warning, resettable, 5-Axis 5 driver warning, resettable, 6-Axis 6 driver warning, resettable
alive_slave_num_error	UINT8	Active slave count fault, 0-no fault, 1-error, non-resettable
slave_com_error	UINT8_8	Slave communication fault, 0-no fault, 1-Slave offline, 2-Slave status inconsistent with set value, 3-Slave not configured, 4-Slave configuration error, 5-Slave initialization error, 6-Slave mailbox communication initialization error
cmd_point_error	UINT8	Command point fault, 0-no fault, 1-Joint command point error, 2-Linear target point error, 3-Arc intermediate point error, 4-Arc target point error, 5-Arc command point spacing too small, 6-Full circle/helix intermediate point 1 error, 7-Full circle/helix intermediate point 2 error, 8-Full circle/helix intermediate point 3 error, 9-Full circle/helix command point spacing too small, 10-TPD command point error, 11-TPD command tool does not match current tool, 12-TPD current command and next command start point deviation too large, 13-Internal/external tool switching error, 14-New helix start point error, 15-New spline curve command point error, 17-PTP joint command out of limit, 18-TPD joint command out of limit, 19-LINARC issued joint command out of limit, 20-Command overspeed in Cartesian space, 21-Torque command out of limit in joint space, 22-JOG joint command out of limit, 23-Axis 1 command speed out of limit in joint space, 24-Axis 2 command speed out of limit in joint space, 25-Axis 3 command speed out of limit in joint space, 26-Axis 4 command speed out of limit in joint space, 27-Axis 5 command speed out of limit in joint space, 28-Axis 6 command speed out of limit in joint space, 29-Joint feedback speed out of limit, 30-Joint command and feedback deviation too large, 31-DMP target point error (including tool mismatch), 32-TCP speed out of limit, 33-Next command joint configuration change, 34-Current command joint configuration change, 35-Joint speed out of limit in LIN command, 36-LIN command adaptive speed exceeds threshold, 37-Unreachable point in trajectory, 38-Unreachable point in trajectory - singular posture, 49-PTP and SPTP commands not allowed between ARCSTART and ARCEND, 50-PTP and SPTP commands not allowed between WEAVESTART and WEAVEEND, 51-Weave welding parameter error, 52-Weave welding command point spacing too small, 53-Unreachable point in swing trajectory - singular posture, 54-Unreachable point in swing trajectory - joint command out of limit, 55-Unreachable point in swing trajectory - planning exception (tool Z coincides with forward direction X angle), 56-Unreachable point in swing trajectory - planning exception (arc path point error), 65-Laser sensor command deviation too large, 66-Laser sensor command interrupted, seam tracking ended early, 81-External axis command speed out of limit, 82-External axis command and feedback deviation too large, 83-Extended peripheral (external axis/IO) communication interrupted, 84-Extended peripheral (external axis/IO) communication packet loss exception, 85-External axis 1 command speed out of limit in joint space, 86-External axis 2 command speed out of limit in joint space, 87-External axis 3 command speed out of limit in joint space, 88-External axis 4 command speed out of limit in joint space, 89-Extended peripheral (external axis/IO) Ethercat communication error, 90-Extended peripheral (external axis/IO) Canopen communication error, 97-Conveyor tracking - start point and reference point posture change too large, 113-Constant force control - X direction exceeds maximum adjustment distance, 114-Constant force control - Y direction exceeds maximum adjustment distance, 115-Constant force control - Z direction exceeds maximum adjustment distance, 116-Constant force control - RX direction exceeds maximum adjustment angle, 117-Constant force control - RY direction exceeds maximum adjustment angle, 118-Constant force control - RZ direction exceeds maximum adjustment angle, 119-External sensor data error, 120-Helical search motion failed, 121-Rotary insertion motion failed, 122-Linear insertion motion failed, 123-Surface positioning motion failed, 124-Abnormal dragging force, entering drag failed, 129-Exceeded maximum torque recording points, 130-Speed switching error, 131-Tool direction out of limit, 132-Momentum out of limit, 133-Power out of limit, 134-STL-Flash diagnostic abnormality, 135-STL-RAM diagnostic abnormality, 136-STL-CPU diagnostic abnormality, 137-Safety board II-ECAT safety data abnormality, 138-Axis 1 ECAT safety data abnormality, 139-Axis 2 ECAT safety data abnormality, 140-Axis 3 ECAT safety data abnormality, 141-Axis 4 ECAT safety data abnormality, 142-Axis 5 ECAT safety data abnormality, 143-Axis 6 ECAT safety data abnormality, 145-Abnormal communication between safety board and controller, 147-Focus following error, 148-Angular velocity out of limit, 149-Joint status word feedback abnormality
IO_error	UINT8	IO fault, 0-no fault, 1-Channel error, resettable, 2-Value error, resettable, 3-WaitDI wait timeout, resettable, 4-WaitAI wait timeout, resettable, 5-WaitAxleDI wait timeout, resettable, 6-WaitAxleAI wait timeout, resettable, 7-Channel configured function error, resettable, 8-Arc start timeout, resettable, 9-Arc end timeout, resettable, 10-Search timeout, resettable, 11-Conveyor IO detection timeout, resettable, 12-WaitAuxDI wait timeout, resettable, 13-WaitAuxAI wait timeout, resettable, 14-Wire search timeout, resettable
gripper_error	UINT8	Gripper fault, 0-no fault, 1-gripper motion timeout error, resettable
file_error	UINT8	Configuration file fault, 0-no fault, 1-zbt configuration file version error, initialization error - non-resettable, 2-zbt configuration file load failed, initialization error - non-resettable, 3-user configuration file version error, initialization error - non-resettable, 4-user configuration file load failed, initialization error - non-resettable, 5-exaxis configuration file version error, initialization error - non-resettable, 6-exaxis configuration file load failed, initialization error - non-resettable, 7-Robot model mismatch, need to reset - non-resettable, 8-dhpara configuration file version error, initialization error - non-resettable, 9-dhpara configuration file load failed, initialization error - non-resettable, 10-Robot model not set - non-resettable, 11-load configuration file version error, initialization error - non-resettable, 12-load configuration file load failed, initialization error - non-resettable, 13-speed configuration file version error, initialization error - non-resettable, 14-speed configuration file load failed, initialization error - non-resettable, 15-weavepara configuration file version error, initialization error - non-resettable, 16-weavepara configuration file load failed, initialization error - non-resettable
para_error	UINT8	Configuration parameter fault, 0-no fault, 1-Tool number out of limit error - resettable, 2-Positioning completion threshold error - resettable, 3-Collision level error - resettable, 4-Load weight error - resettable, 5-Load center of mass X error - resettable, 6-Load center of mass Y error - resettable, 7-Load center of mass Z error - resettable, 8-DI filter time error - resettable, 9-AxleDI filter time error - resettable, 10-AI filter time error - resettable, 11-AxleAI filter time error - resettable, 12-DI high/low level range error - resettable, 13-DO high/low level range error - resettable, 14-Workpiece number out of limit error - resettable, 15-External axis number out of limit error - resettable, 16-Conveyor tracking - encoder channel error - resettable, 17-Conveyor tracking - workpiece axis number error - resettable, 18-FR30L mounting method - non-standard mounting error - resettable
exaxis_out_slimit_error	UINT8	External axis soft limit fault, 0-no fault, 1-External axis 1 out of soft limit fault, resettable, 2-External axis 2 out of soft limit fault, resettable, 3-External axis 3 out of soft limit fault, resettable, 4-External axis 4 out of soft limit fault, resettable, 5-External axis 5 out of soft limit fault, resettable, 6-External axis 6 out of soft limit fault, resettable
dr_com_err	UINT8_6	Driver communication fault, 0-no fault, 1-fault
dr_err	UINT8	Driver fault, 0-no fault, 1-Axis 1 driver fault, non-resettable, 2-Axis 2 driver fault, non-resettable, 3-Axis 3 driver fault, non-resettable, 4-Axis 4 driver fault, non-resettable, 5-Axis 5 driver fault, non-resettable, 6-Axis 6 driver fault, non-resettable
out_sflimit_err	UINT8	Soft limit fault, 0-no fault, 1-Axis 1 out of soft limit fault, resettable, 2-Axis 2 out of soft limit fault, resettable, 3-Axis 3 out of soft limit fault, resettable, 4-Axis 4 out of soft limit fault, resettable, 5-Axis 5 out of soft limit fault, resettable, 6-Axis 6 out of soft limit fault, resettable

Table 1-2 Configuration Functions of Robot Input Control

Name	Data type	Description
speed_mask	UINT8	Global speed setting mask: 0-disable; 1- enable
speed	UINT8	Set the global speed (0-100)
std_DO_mask	UINT8	Control box standard DO output control mask (bit0 ~ bit7 indicates DO0 ~ DO7)
std_DO_box	UINT8	Control box standard DO output (bit0 ~ bit7 indicates DO0 ~ DO7)
cfg_DO_mask	UINT8	Control box configurable CO output mask (bit0 ~ bit7 indicates CO0 ~ CO7)
cfg_DO_box	UINT8	Control box Configurable with CO output (bit0 ~ bit7 indicates CO0 ~ CO7)
cfg_DO_tool_mask	UINT8	Control box standard tool DO output control mask (bit0 ~ bit1 indicates toolDO0 ~ toolDO1)
cfg_DO_tool	UINT8	Control box standard tool DO output (bit0 ~ bit1 indicates toolDO0 ~ toolDO1)
std_AO_mask	UINT8	Robot analog output control mask (bit0 ~ bit1 indicates control box AO0 ~ AO1；; Bit2 stands for tool AO0)
std_AO0_box	DOUBLE	Control box analog AO0 (0.0 ~ 4095.0)
std_AO1_box	DOUBLE	Control box analog AO1 (0.0 ~ 4095.0)
std_AO0_tool	DOUBLE	Tool analog AO1 (0.0 ~ 4095.0)
input_BIT_reg_8xX	UINT8_X	BIT-type robot input registers (8xX indicates the number of registers, if you need 16 BIT-type input registers, the actual name is “input_BIT_reg_8x2”, and the robot can support up to 128 bit-type registers)
input_INT_reg_X	INT32_X	INT robot input registers (X represents the number of registers, if you need 16 INT input registers, the actual name is “input_INT_reg_16”, and the robot can support up to 64 INT registers)
input_DOUBLE_reg_X	DOUBLE_X	DOUBLE robot input register (X represents the number of registers, if you need 16 DOUBLE input registers, the actual name is “input_DOUBLE_reg_16”, and the robot can support up to 64 DOUBLE registers)

Table 1-3 Correspondence between Data Types and Byte Length

Data type	Byte length
UINT8	1
INT32	4
DOUBLE	8
UINT8_X	1*X
INT32_X	4*X
DOUBLE_X	8*X