User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 22
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4.6.8 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. A single parameter that has been changed before can
be reset by this instruction also.
Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Related commands: SAP, STAP, and GAP
Mnemonic: RSAP <parameter number>, 0
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE
8
<parameter number>
0
don’t care
Reply in direct mode:
STATUS
COMMAND
VALUE
100 – OK
8
don’t care
A list of all parameters which can be used for the RSAP command is shown in section 5.
Example:
Restore the maximum current
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