5 4
6
3 2 1
Data Link Layer (DLL)
Applies to all
With no address
With address (factory default)
Start
Control Header*
Control Command
Data*
Stop
Check
1 byte
1 byte
3 bytes
0 or 5 bytes
1 byte
1 byte
STX
`R´, `W¨, À´, `N´
“code”
“-9999” to “99999”
ETX
BCC
Start
Source
Address
Target
Address
Control
Header*
Control
Command
Data*
Stop
Check
1 byte
2 bytes
2 bytes
1 byte
3 bytes
0 or 5 bytes
1 byte
1 byte
STX
“00” to “99”
“00” to “99”
`R´, `W¨, À´, `N´
“code”
“-9999” to “99999”
ETX
BCC
The frame format is shown in the tables below. By factory settings, communications are made with
addresses. They can be disabled using W-SAD command. Depending on the command used, the
Data field* is not necessary.
*Info
Control Header Field*
Data Field
R
(Read)
Is not used
W
(Write)
Used
A
(Acknowlegement)
Response to Reading Comands
Used
Response to Writing Comands
Is not used
N
(Negative Acknowlegement)
Used
Robot Station Connector
Pin distribution
Pin
Description
1
Not used
2
Common reference: RS232 GND
3
Serial input: RS232 RX
4
Serial output: RS232 TX
5
Common reference: RS232 GND
6
Not used
Female RJ12
Connector
5
40 mm
50 mm
60 mm
80 mm
100 mm
130 mm
130 mm
para manuales - color gris
200 mm
300 mm