User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 29
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.6 GAP (get axis parameter)
Most parameters of the PDX-113-57/60-SE can be adjusted individually for the axis. With this parameter they
can be read out. In stand-alone mode the requested value is also transferred to the accumulator register for
further processing purposes (such as conditioned jumps). In direct mode the value read is only put out in
the value field of the reply (without affecting the accumulator).
Internal function: The parameter is read out of the correct position in the appropriate device. The parameter
format is converted adding leading zeros (or ones for negative values).
Related commands: SAP, STAP, AAP, RSAP
Mnemonic: GAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
6
<parameter number>
0*
(don't care)
*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 GAP:
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
7
standby current
The current limit two seconds after the motor has
stopped.
0..255
8
target pos. reached
Indicates that the actual position equals the target
position.
0/1