User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 37
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.8 RSAP (restore axis parameter)
For all configuration-related axis parameters non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up. A single parameter that has been changed before can
be reset by this instruction also.
Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Relate commands: SAP, STAP, GAP, and AAP
Mnemonic: RSAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
8
<parameter number>
0*
(don't care)
*motor number is always O as only one motor is involved
Reply structure in direct mode:
STATUS
VALUE
100 – OK
(don't care)
List of parameters, which can be used for RSAP:
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. Do not change!
136
acceleration threshold
Specifies the threshold between low and high
acceleration values for the parameters 144 and 145.
Normally not needed.
137
acceleration divisor
A ramping parameter, can be adjusted in special cases,
automatically calculated by setting the maximum
acceleration (e.g. during normal initialization). See the
TMC428 data sheet for details. Normally no need to
change.