User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 37
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4.6.23 AGP (accumulator to global parameter)
The content of the accumulator register is transferred to the specified global 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.
- Note that the global parameters in bank 0 are mostly EEPROM-only and thus should not be modified
automatically by a standalone application.
- See chapter 6 for a complete list of global parameters.
Related commands: AAP, SGP, GGP, SAP, GAP
Mnemonic: AGP <parameter number>, <bank number>
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE
35
<parameter number>
<bank number>
don’t care
Reply in direct mode:
STATUS
VALUE
100 – OK
don’t care
Example:
Copy accumulator to TMCL user variable #3
Mnemonic: AGP 3, 2
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
$23
$03
$02
$00
$00
$00
$00
4.6.24 Customer Specific TMCL Command Extension (user functions 0… 7)
The user definable functions UF0… UF7 are predefined functions without topic for user specific purposes. A
user function UF command uses three parameters. Please contact TRINAMIC for a customer specific
programming.
Internal function: Call user specific functions implemented in C by TRINAMIC.
Related commands: none
Mnemonic: UF0… UF7 <parameter number>
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE
64… 71
user defined
user defined
user defined
Reply in direct mode:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Target-
address
Status
Instructio
n
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$02
$01
user
defined
64… 71
user
defined
user
defined
user
defined
user
defined