User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 20
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4.6.6 GAP (get axis parameter)
Most parameters of the TMCM-1640 can be adjusted individually. They can be read out using the GAP
command.
Related commands: SAP, STAP, and RSAP
Mnemonic: GAP <parameter number>, 0
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE
6
<parameter number>
0
don’t care
Reply in direct mode:
STATUS
COMMAND
VALUE
100 – OK
6
don’t care
A list of all parameters which can be used for the GAP command is shown in section 5.
Example:
Get the actual motor position
Mnemonic: GAP 1, 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
$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)
$00
$01
$64
$06
$00
$00
$02
$c7