User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 28
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3.6.6 GAP (get axis parameter)
Most parameters of the TMCM-1141 can be adjusted individually for the axis. With this parameter they can
be read out. In standalone mode the requested value is also transferred to the accumulator register for
further processing purposes (such as conditioned jumps). In direct mode the value read is only output in
the value field of the reply (without affecting the accumulator).
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
Internal function: The parameter is read out of the correct position in the appropriate device. The
parameter format is converted adding leading zeros (or ones for negative values).
Related commands: SAP, STAP, AAP, RSAP
Mnemonic: GAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
6
<parameter number>
0*
(don't care)
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Get the actual position of motor
Mnemonic: GAP 0, 1
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
$06
$01
$00
$00
$00
$00
$00
Reply:
Byte Index
0
1
2
3
4
5
6
7
Function
Host-
address
Target-
address
Status
Instructio
n
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$02
$01
$64
$06
$00
$00
$02
$c7
 status=no error, position=711