Command
Frame A
Frame Reception
The Robot sends a Command Frame to the JBC device. This information is send to the Application
Layer (APL). The Command Frame obtained from the robot is correct if it has the correct length and
“starts with STX + finishes with ETX + correct BCC”.
The JBC device will send a Response Frame. In the case of a Response Frame with errors, the Robot
determines the number of consecutive Command Frames that will send to the JBC device. If the
Robot receives a Response Frame with errors, it cannot be resent by the JBC device.
The JBC device does not expect ACK/NAK from the Robot.
Robot
Command
Frame A
Response
Frame A
Robot
JBC Device
JBC Device
Command
Frame A
Response
Frame A
Response
Frame A
NAK
7
40 mm
50 mm
60 mm
80 mm
100 mm
130 mm
130 mm
para manuales - color gris
200 mm
300 mm
