User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 38
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5.7.7 STAP (store axis parameter)
An axis parameter previously set with a Set Axis Parameter command (SAP) will be stored permanent. Most
parameters are automatically restored after power up (refer to axis parameter list in chapter 6).
Internal function: An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from
EEPORM after next power up.
Related commands: SAP, RSAP, GAP, AAP
Mnemonic: STAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
7
<parameter number>
0*
1
(don't care)*
2
*
1
motor number is always O as only one motor is involved
*
2
the value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Parameter ranges:
Parameter number
Motor number
Value
s. chapter 6
0
s. chapter 6
List of parameters, which can be used for STAP:
Number
Axis Parameter
Description
4
maximum
positioning
speed
Should not exceed the physically highest
possible value. Adjust the pulse divisor (no.
154), if the speed value is very low (<50) or
above the upper limit. See TMC 428 datasheet
for calculation of physical units.
5
maximum
acceleration
The limit for acceleration (and deceleration).
Changing this parameter requires re-
calculation of the acceleration factor (no. 146)
and the acceleration divisor (no. 137), which is
done automatically. See TMC 428 datasheet for
calculation of physical units.
6
absolute max.
current
(CS / Current
Scale)
The most important motor setting, since too
high values might cause motor damage!
The maximum value is 255. This value means
100% of the maximum current of the module.
The current adjustment is within the range 0…
255 and can be adjusted in 32 steps (0… 255
divided by eight; e.g. step 0 = 0… 7, step 1 =
8… 15 and so on).
7
standby current
The current limit two seconds after the motor
has stopped.
12
right limit switch
disable
If set, deactivates the stop function of the
right switch
13
left limit switch
disable
Deactivates the stop function of the left
switch resp. reference switch if set.
130
minimum speed
Should always be set 1 to ensure exact
reaching of the target position. Do not
change!