Protocol Reference
Choose a Transport
Section titled “Choose a Transport”The Python / C++ APIs handle transport and encoding. Use register and frame references for firmware integration, custom controllers, or communication diagnostics.
| Protocol | Entry Point | Scope |
|---|---|---|
| Modbus RTU | Manager / Hand | RS485; Linux / macOS / Windows |
| CANFD | Manager / Hand | Supported CANFD adapters; SocketCAN on Linux only |
| EtherCAT | Standalone IgH C++ example | Linux only; outside the Manager / Hand transport layer |
Protocol and Hardware References
Section titled “Protocol and Hardware References”- Communication Protocol：registers and CANFD frame structures.
- Product Manual：electrical connections, pinouts, and mechanical specifications.
- IgH EtherCAT：standalone Linux integration example.
SDK Conventions
Section titled “SDK Conventions”Connection Enums · Units and Clock Semantics · Errors and Retries
Stop application control on the same device before register-level diagnostics to avoid concurrent writes. The dedicated SDK documents the independent vision-tactile protocol.