Table of Contents - TG Drives

Communication protocol
INTRODUCTION
THE BASIC DMC 2 communication protocol follows the Intel HEX-protocol with
some extensions. The register number field may also contain X-REGISTERS for
the read and write register routines.
The ACK/NAK characters are moved to some characters that are not part of the
data character set.
The RECORD-TYPE byte high nibble values 8 -- F may be used to force unit
addressing to eliminate response from a miss-selected unit.
PROTOCOL FORMAT
The general format for the protocol
: ...
DESCRIPTION
:
The start of record character.
A two-digit hexadecimal number, indicating the length of the data
field (in bytes) in the record. The maximum supported value of
is 6F hex.
A four-digit address, Register are addresses with their number (0-
255). Extended registers are addresses with
[32768+256 x group+member].
Type of record and node address, if command or data record,
and type of command/data. The first Hex-Digit is the node
address (in daisy chain operation) and the second digit is the
record type identifier.
Is the data field.
Is the 2’s complement of the modulo 256 sum of all bytes in the
record (except ). (So that the modulo 256 sum off all
bytes, including is Zero.)
Carriage return used to help identify the end of the record.
A record with correct checksum is acknowledged with an “Y” followed by a ; a
record with incorrect checksum is acknowledged with an “N” followed by a .
These rules apply to both the host computer and the DMC 2 unit.
COMPUTER MODE
Record
type
0
Description Example
Ordinary data record
Used to download/upload the internal program.
is the byte-address in the internal
program area. For the DMC 2 to accept this record
type, a record of type 2 must have been sent to
enable program downloading.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001 199