User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 23
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4.6.9 SGP (set global parameter)
Global parameters are related to the host interface, peripherals or other application specific variables. The
different groups of these parameters are organized in banks to allow a larger total number for future
products. Currently, only bank 0 and 1 are used for global parameters, and only bank 2 is intended to use
for user variables.
Related commands: GGP, STGP, RSGP
Mnemonic: SGP <parameter number>, <bank number>, <value>
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE
9
<parameter number>
<bank number>
<value>
Reply in direct mode:
STATUS
VALUE
100 – OK
don’t care
A list of all parameters which can be used for the SGP command is shown in section 6.
Example:
Set variable 0 at bank 2 to 100
Mnemonic: SGP, 0, 2, 100
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
$09
$00
$02
$00
$00
$00
$64