Communication Architecture
Overview
Section titled “Overview”The X30 robot provides two communication protocols for different hosts and functional layers:
| TCP Body Monitoring Protocol | UDP Motion Control Protocol | |
|---|---|---|
| Communication Target | Navigation host 192.168.1.106:30000 | Motion host 192.168.1.103:43893 |
| Transport Protocol | TCP (request/response) | UDP (command/report) |
| Data Format | XML (ASDU) | Binary struct |
| Software Dependency | robot_server V3.0.26+ | jy_exe V2.2.90+ |
| Responsibility Layer | Navigation/Task — high-level task scheduling and status queries | Motion/Control — low-level real-time control and sensor data reporting |
The two protocols have an upstream-downstream relationship: the TCP protocol handles “what to do” (navigation tasks, status queries), while the UDP protocol handles “how to do it” (joint control, gait switching, real-time sensor data streams). In practice, developers typically interact with both.
TCP Body Monitoring Protocol
Section titled “TCP Body Monitoring Protocol”For the complete TCP body monitoring protocol specification (software requirements, protocol layers, port numbers, APDU/ASDU data formats, message types, and error feedback), see Body Monitoring Protocol (TCP).
UDP Motion Control Protocol
Section titled “UDP Motion Control Protocol”For the complete UDP motion control protocol specification (software requirements, protocol format, command code source identifiers, and sensor data reporting), see Motion Control Protocol (UDP).