User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 30
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3.6.8 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 (refer to axis parameter list in chapter 4). A single
parameter that has been changed before can be reset by this instruction also.
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
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>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
8
<parameter number>
0*
(don't care)
*motor number is always O as only one motor is involved
Reply structure in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Restore the maximum current of motor
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
$00
$00
$00
$00
$00