User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 21
www.trinamic.com
4.6.7 STAP (store axis parameter)
The STAP command stores an axis parameter previously set with a Set Axis Parameter command (SAP)
permanently. Most parameters are automatically restored after power up.
Internal function: An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from
EEPORM after next power up.
Related commands: SAP, RSAP, and GAP
Mnemonic: STAP <parameter number>, 0
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE
7
<parameter number>
0
don’t care*
* The value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.
Reply in direct mode:
STATUS
COMMAND
VALUE
100 – OK
7
don’t care
A list of all parameters which can be used for the STAP command is shown in section 5.
Example:
Store the maximum speed
Mnemonic: STAP 4, 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
$07
$04
$00
$00
$00
$00
$00
Note: The STAP command will not have any effect when the configuration EEPROM is locked. The error
code 5 (configuration EEPROM locked) will be returned in this case.