User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 33
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.7 STAP (store axis parameter)
An axis parameter previously set with a Set Axis Parameter command (SAP) will be stored permanent. Most
parameters are automatically restored after power up.
Internal function: An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from
EEPORM after next power up.
Related commands: SAP, RSAP, GAP, AAP
Mnemonic: STAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
7
<parameter number>
0*
1
(don't care)*
2
*
1
motor number is always O as only one motor is involved
*
2
the value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Parameter ranges:
Parameter number
Motor number
Value
s. chapter 7
0
s. chapter 7
List of parameters, which can be used for STAP:
Number
Axis Parameter
Description
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.
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.
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).
7
standby current
The current limit two seconds after the motor has
stopped.
12
right limit switch
disable
if set, deactivates the stop function of the right
switch
13
left limit switch
disable
Deactivates the stop function of the left switch
resp. reference switch if set.
130
minimum speed
Should always be set 1 to ensure exact reaching
of the target position. Normally no need to
change!
136
acceleration threshold
Specifies the threshold between low and high
acceleration values for the parameters 144 and
145. Normally not needed.