TMCL Protocol for RS232 interface for the gripper

The TMCM-KR-842 is the gripper board for the KUKA youBot arm placed inside the gripper at the upper end of the arm. The main purpose of this board is controlling the two linear stepper motors (connected separately to the board) inside the gripper. These motors move the two gripper fingers. This attached PDF document - which is also shipped with every KUKA youBot - describes the TMCL protocol that is used for the communication by the RS232 interface at the arm.