Motoman NX 100 User Manual

5.2 Robot Control Function
5-32
" Transmission Procedure
The transmission from the host computer proceeds as follows.
1. The ENQ code is sent from the host computer to establish a data link.
2. After the data link is established, the data is sent from the host computer. The data
transmission should be completed in a single block.
3. After the request to send is accepted, the host computer should be ready to receive.
The NX100 sends the ENQ code to establish the data link.
4. After the data link is established, the data sent from the NX100 is received to terminate
the transmission at completion of receipt.
The read/write function can be distinguished by the header number. Refer to the header num-
ber list.
" Read-out of I/O Signal Status
DATA-1
Command format : Data-1, Data-2
Data-1 = Start No.
Data-2 = Number of data points
NX100
Host computer
ENQ
ACK0
SOH 04,051 STX DATA-1
ETX BCC
ACK1
EOT
ACK0
SOH 90,001 STX DATA-2
ETX BCC
EOT
ENQ
ACK1
CR
CR

Motoman NX 100 Specifications

General

Brand	Motoman
Model	NX 100
Category	Controller
Language	English