Abstract: The present disclosure relates to a channel configuration method for communication between the main controller of the robot and the at least one node of the robot, including: receiving at least one description message transmitted from at least one node via a broadcast channel, confirming a channel according to the description message of the node, wherein a main controller communicates with the node via the channel, and transmitting at least one channel configuration message via the broadcast channel. The channel configuration message carries the description message of the node and a description message of the channel. The main controller may communicate with the node via the channel.

Abstract: The present disclosure relates to a data upgrading method, including: transmitting a data region preparation request for preparing a data region, transmitting a length of the upgraded data packet via a block control instruction frame, wherein a node adjusts the data region according to the length of the upgraded data packet, receiving the length of the data region, and transmitting the upgraded data packet according to a predetermined sending sequence. As such, the abnormal operations may be avoided and the reliability may be enhanced.

Abstract: The present disclosure relates to a method for transmitting data through system bus between a main controller and a node of a robot. The method includes sequentially sending date frames to the node; receiving a message of an abnormal, data transmission sent by the main controller; resending the data frames being transmitted abnormally upon receiving the message. The present disclosure also provides a device for transmitting data through system bus.

Abstract: The present disclosure relates to a parameter setting method for system bus of a robot. The method includes sending parameters to the node; sending a parameter setting request to the node; and receiving the parameter setting response from the node. The present disclosure further provides a parameter setting device for system bus of a robot.

Abstract: The present disclosure relates to a frame transmission method and a frame transmission device. The data frame includes an arbitration field and a data field. The arbitration field includes a frame mode indication sub-field indicating a frame mode of the data frame, and the data field includes an instruction sub-field indicating instruction messages carried the data frame. A great deal of information may be obtained by the configuration of the present disclosure, and thus the transmission efficiency may be enhanced.

Abstract: The present disclosure relates to a method for detecting abnormal system bus. The method includes receiving a status response instruction of a node; obtaining information reporting an abnormal status of the node from the status response instruction; and determining an operating instruction according to a degree of the abnormal status. The present disclosure further provides a robot controller.

Abstract: The present disclosure relates to a data transmission method for robot, including: transmitting, an attribute reporting request to at least one node via an attribute request frame, receiving an attribute reporting response transmitted from the node, updating the length of a buffer according to the attribute reporting response when a length of at least one attribute to be reported being determined to be greater than the length of the buffer. The attribute reporting response carries the length of the attribute data, and receiving the attribute data reported from the node via at least, one block data, when the length of the attribute to be reported being determined to be less than or equals to the length of the buffer.