User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 19
www.trinamic.com
4.6.5 SAP (set axis parameter)
Most of the motion control parameters of the module can be specified by using the SAP command. The
settings will be stored in SRAM and therefore are volatile. Thus, information will be lost after power off.
Please use command STAP (store axis parameter) in order to store any setting permanently.
Related commands: GAP, STAP, and RSAP
Mnemonic: SAP <parameter number>, 0, <value>
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE
5
<parameter number>
0
<value>
Reply in direct mode:
STATUS
COMMAND
VALUE
100 – OK
5
don’t care
A list of all parameters which can be used for the SAP command is shown in section 5.
Example:
Set the absolute maximum current to 2000mA
Mnemonic: SAP 6, 0, 2000
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
$07
$D0