User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 53
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5.7.12 RSGP (restore global parameter)
With this command the contents of a TMCL™ user variable can be restored from the EEPROM. For all
configuration-related axis parameters, non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up (see axis parameter list in chapter 7). A single parameter
that has been changed before can be reset by this instruction.
Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Relate commands: SAP, STAP, GAP, and AAP
Mnemonic: RSAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
8
<parameter number>
0*
(don't care)
*motor number is always O if only one motor is involved
Reply structure in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Global parameters of bank 0, which can be used for RSGP:
The global parameter bank 0 is not required for the RSGP command, because these parameters are
automatically stored with the SGP command in EEPROM.
Global parameters of bank 1, which can be used for RSGP:
The global parameter bank 1 is normally not available, but can be used in customer specific extensions of the
firmware.
Global parameters of bank 2, which can be used for RSGP:
Bank 2 contains general purpose 32 bit variables for the use in TMCL™ applications. They are located in RAM
and can be stored to EEPROM. After booting, their values are automatically restored to the RAM.
Number
Global parameter
Description
0
general purpose variable #0
for use in TMCL™ applications
1
general purpose variable #1
for use in TMCL™ applications
2
general purpose variable #2
for use in TMCL™ applications
3
general purpose variable #3
for use in TMCL™ applications
4
general purpose variable #4
for use in TMCL™ applications
5
general purpose variable #5
for use in TMCL™ applications
6
general purpose variable #6
for use in TMCL™ applications
7
general purpose variable #7
for use in TMCL™ applications
8
general purpose variable #8
for use in TMCL™ applications
9
general purpose variable #9
for use in TMCL™ applications
10
general purpose variable #10
for use in TMCL™ applications
11
general purpose variable #11
for use in TMCL™ applications
12
general purpose variable #12
for use in TMCL™ applications
13
general purpose variable #13
for use in TMCL™ applications
14
general purpose variable #14
for use in TMCL™ applications
15
general purpose variable #15
for use in TMCL™ applications
16
general purpose variable #16
for use in TMCL™ applications
17
general purpose variable #17
for use in TMCL™ applications