User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 36
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4.6.22 AAP (accumulator to axis parameter)
The content of the accumulator register is transferred to the specified axis parameter. For practical use, the
accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been modified
by the CALC or CALCX (calculate) instruction.
Related commands: AGP, SAP, GAP, SGP, GGP, CALC, CALCX
Mnemonic: AAP <parameter number>, 0
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE
34
<parameter number>
0
<don't care>
Reply in direct mode:
STATUS
VALUE
100 – OK
don’t care
See chapter 5 for a complete list of axis parameters.
Example:
Positioning a motor by a potentiometer connected to analogue input #0:
Start: GIO 0, 1 // get value of analogue input line 0
CALC MUL, 4 // multiply by 4
AAP 0, 0 // transfer result to target position of motor 0
JA Start // jump back to start
Binary format of the AAP 0, 0 command:
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
$22
$00
$00
$00
$00
$00
$00