Datasheet

TMCM-0010-OPC Hardware/Firmware Manual • Hardware Version V1.10 | Document Revision V1.00 • 2019-Apr-10

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TMCL Command Format

Bytes Meaning

1 Module address

1 Command number

1 Type number

1 Motor or Bank number

4 Value (MSB ﬁrst!)

1 Checksum

Table 5: TMCL Command Format

5.2.1 Checksum Calculation

The checksum is calculated by adding up all bytes (including the module address byte) using 8-bit addition

as shown in this C code example:

1 unsigned char i , Checksum ;

unsigned char Command [9];

// Set the Command array to the desired command

5 Checksum = Command [0];

for (i =1; i <8; i ++)

7 Checksum += Command [i ];

9 Com mand [8]= Checksum ; // insert ch e ck s u m as last byte of the command

// Now , send it to the module

5.3 Reply Format

Every time a command has been sent to a module, the module sends a reply. The reply format with RS-232,

RS-485, RS-422 and USB is as follows:

TMCL Reply Format

Bytes Meaning

1 Reply address

1 Module address

1 Status (e.g. 100 means no error)

1 Command number

4 Value (MSB ﬁrst!)

1 Checksum

Table 6: TMCL Reply Format

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