| 摘要 |
Communication is performed between a sensor unit (10) and a robot CPU (12) by using a serial data line (14). A variable length data format includes a transfer size section, a command section, a transfer pattern section, a measurement data section, and a CRC section; and, along with increasing and decreasing the number of types of data in the measurement data section, the type of this data is stipulated by a transfer pattern section. By reducing the number of types of the data, the length of the data is shortened, thus ensuring the communication speed. Furthermore, the measurement times of the sensor unit (10) are accurately managed by the robot CPU (12), by transmitting time stamp data from the robot CPU (12), and by transmitting time stamp+time count data from the sensor unit (10).
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