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