User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 25
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.5 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 are 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 only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
List of parameters, which can be used for SAP:
Please note, that for the binary representation <parameter number> has to be filled with the number
and the <value> has to be filled with a value from range.
Number
Axis Parameter
Description
Range
0
target (next) position
The desired position in position mode (see ramp
mode, no. 138).
 2
23
1
actual position
The current position of the motor. Should only be
overwritten for reference point setting.
 2
23
2
target (next) speed
The desired speed in velocity mode (see ramp
mode, no. 138). In position mode, this parameter is
set by hardware: to the maximum speed during
acceleration, and to zero during deceleration and
rest.
2047
3
actual speed
The current rotation speed.
2047
4
maximum positioning
speed
Should not exceed the physically highest possible
value. Adjust the pulse divisor (no. 154), if the
speed value is very low (<50) or above the upper
limit. See TMC 428 datasheet (p.24) for calculation of
physical units.
0...2047
5
maximum acceleration
The limit for acceleration (and deceleration).
Changing this parameter requires re-calculation of
the acceleration factor (no. 146) and the acceleration
divisor (no.137), which is done automatically. See
TMC 428 datasheet (p.24) for calculation of physical
units.
0... 2047
6
absolute max. current
The most important motor setting, since too high
values might cause motor damage! The maximum
value is 255 (which mean 100% of the maximum
current of the module).
0..255