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Dear List, I am in the process of developing an Indexing servo system using Allen Bradley Plc 5/20, Allen Bradley Ultra 200 Index Servo drive and Allen Bradley Panel view 900. The Servo drive is to communicate to PLC 5/20 via the serial port using Host Command instructions (ASCII Code). Plc 5/20 will be used to manipulate the Indexing distance and this is then displayed in a panelview900. The trouble I am facing is I am not able to figure out how the Checksum is derived in the command instruction inspite of trying all that is explained in the Host command help in the Blue Master software. Example, if I give a Command to the Servo Drive as:001B50800003E80F0<cr>, How is the Checksum F0 derived in above command? Please, if you have done something like this before , I will appreciate any help you can offer me. With thanks, Gabriel Wamiti, Factory Automation Systems . Email:[email protected] . Cell:254-733-795-661