User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 30
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5.6.8 RSAP (restore axis parameter)
For all configuration-related axis parameters non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up. A single parameter that has been changed before
can be reset by this instruction also.
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>, <motor>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
8
<parameter number>
<motor>
0… 5
don’t care
Reply structure 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:
Restore the maximum current of motor 3
Mnemonic: RSAP 6, 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
$08
$06
$03
$00
$00
$00
$00