TMCL™ Firmware Manual - Trinamic

PD-109-57 V2 TMCL Firmware Manual (V1.00/2010-FEB-18) 14
The binary command format for RS232 and RS485 is as follows:
Bytes Meaning
1 Module address
1 Command number
1 Type number
1 Motor or Bank number
4 Value (MSB first!)
1 Checksum*
*The checksum is calculated by adding up all the other bytes using an 8-bit addition.
Checksum calculation
As mentioned above, the checksum is calculated by adding up all bytes (including the module address byte)
using 8-bit addition. Here are two examples to show how to do this:
in C:
unsigned char i, Checksum;
unsigned char Command[9];
//Set the “Command” array to the desired command
Checksum = Command[0];
for(i=1; i