Motoman NX 100 User Manual

2.5 Transmission Specifications
2-10
2.5.4 Error Control System
The error control is performed by a check sum of all the characters from SOH or STX to ETB
or ETX.
The check sum is calculated as shown below.
<Example>
• Start of calculation : Calculation is started when SOH or STX used as the block start
sequence appears. These block start sequence are not included in
the sum. As for a STX led by a SOH, STX is included in the sum.
• End of calculation : Calculation is ended when ETB or ETX used as the block end
sequence appears, with the ETB or ETX included in the sum.
2.5.5 Character Configuration
The character configuration is as follows.
2.5.6 Data Link Establishment
A data link is established by responding ACK0 to ENQ.
TEXT
BCC
S
T
X
E
T
X
0000 0101
0000 0000
0011 0110
1010 1100
1111 0001
0000 0011
0000 0001 1101 1011
+
b1 b2 b3 b4 b5 b6 b7 b8 bp
Stop bit
Start bit
Parity bit

Motoman NX 100 Specifications

General

Brand	Motoman
Model	NX 100
Category	Controller
Language	English