User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 77
www.trinamic.com
5.7.30 AGP (accumulator to global parameter)
The content of the accumulator register is transferred to the specified global parameter. For practical usage,
the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been
modified by the CALC or CALCX (calculate) instruction. Note that the global parameters in bank 0 are
EEPROM-only and thus should not be modified automatically by a standalone application. (See chapter 7
for a complete list of global parameters).
Related commands: AAP, SGP, GGP, SAP, GAP, GIO
Mnemonic: AGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
35
<parameter
number>
<bank number>
(don't care)
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Global parameters of bank 0, which can be used for AGP:
Number
Global parameter
Description
64
EEPROM magic
Setting this parameter to a different value as $E4 will
cause re-initialization of the axis and global parameters
(to factory defaults) after the next power up. This is
useful in case of miss-configuration.
65
RS232/RS485 baud rate
0
9600 baud (default)
1
14400 baud
2
19200 baud
3
28800 baud
4
38400 baud
5
57600 baud
6
76800 baud
Not supported by Windows!
7
115200 baud
8
230400 baud
9
250000 baud
Not supported by Windows!
10
500000 baud
Not supported by Windows!
11
1000000 baud
Not supported by Windows!
Warning:
The upper speed for RS232 is 115200 baud limited by
the RS232 transceiver.
The RS232 might work with higher speed but out of
specification.
66
serial address
The module (target) address for RS-232/RS-485.
67
ASCII mode
Configure the TMCL™ ASCII interface:
Bit 0: 0 – start up in binary (normal) mode
1 – start up in ASCII mode
Bits 4 and 5:
00 – Echo back each character
01 – Echo back complete command
10 – Do not send echo, only send command reply