User manual

TMCM-1161 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-NOV-19) 24
www.trinamic.com
3.5.5 SAP (set axis parameter)
With this command most of the motion control parameters of the module can be specified. The settings
will be stored in SRAM and therefore are volatile. That is, information will be lost after power off. Please
use command STAP (store axis parameter) in order to store any setting permanently.
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: The parameter format is converted ignoring leading zeros (or ones for negative values).
The parameter is transferred to the correct position in the appropriate device.
Related commands: GAP, STAP, RSAP, AAP
Mnemonic: SAP <parameter number>, 0, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
5
<parameter
number>
0*
<value>
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Set the absolute maximum current of motor to 200mA
Mnemonic: SAP 6, 0, 200
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$05
$06
$00
$00
$00
$00
$c8