2. CNDE data frame protocol format
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 |