TITAN-SVX Software Manual
page 12
Rev 4.01
•
Command will be processed only if the Start Character, Network ID, and
Separation Characters are valid. If the characters do not match, no reply
from TITAN-SVX will be sent.
•
The Network ID range is from
01
to
99
.
•
Any invalid command following valid start characters will result in a reply with
command error message.
•
CRC Checksum characters are four ASCII characters that represent CRC-16
Checksum value of the characters including the Start, NetID, Separation
character, and Command or Reply characters.
•
Character “
*
” separates the command or the reply message from the CRC
Checksum characters.
•
CRC-16 uses following parameters in the calculation of CRC Checksum
value:
Input Type: ASCII
Polynomial: 0x8005
Initial Value: 0xFFFF
Final XOR: 0x0000
Example 1:
Command from Master to TITAN-SVX
@01:EX*4453[CR][LF]
Reply from TITAN-SVX to Master
#01:EX=830141*868D[CR][LF]
Above example shows a query command for the encoder position of the
Motor with four CRC characters appended to the command.
Reply from the TITAN also comes with the with CRC Checksum
characters.
Example 2:
Command from Master to TITAN-SVX
@01:EX*1234[CR][LF]
Reply from TITAN-SVX to Master
#01:COMERR1*F960[CR][LF]
Incorrect CRC value characters are sent and error message is sent back
from the TITAN-SVX.
