User manual

PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 23
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3.5.5 SAP (set axis parameter)
With this command most of the motion control parameters of the module can be specified. The settings
will be stored in SRAM and therefore, will be volatile. That is, information will be lost after power off.
Please use command STAP (store axis parameter) in order to store any setting permanently.
Internal function: The parameter format is converted ignoring leading zeros (or ones for negative
values). The parameter is transferred to the correct position in the appropriate device.
Related commands: GAP, STAP, RSAP, AAP
Mnemonic: SAP <parameter number>, 0, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
5
<parameter number>
0*
<value>
* motor number is always O as the module supports just one axis
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
For a table with parameters which can be used together with this command please refer to chapter 4.
Example:
Set the absolute maximum current of the motor during movements to approx. 78% of max.
module
current:
Mnemonic: SAP 6, 0, 200
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
$05
$06
$00
$00
$00
$00
$c8