User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 29
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5.6.7 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.
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>, <motor>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
7
<parameter number>
<motor>
0… 5
don’t care*
* 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
For a table with parameters and values which can be used together with this command please refer to
chapter 6.
Example:
Store the maximum speed of motor 0
Mnemonic: STAP 4, 0
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
$07
$04
$00
$00
$00
$00
$00
The STAP command will not have any effect when the configuration EEPROM is locked (refer to 7.1).
In direct mode, the error code 5 (configuration EEPROM locked, see also section 5.2.1) will be returned
in this case.