User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 40
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.9 SGP (set global parameter)
With this command most of the module specific parameters not directly related to motion control can be
specified and the TMCL
TM
user variables can be changed. Global parameters are related to the host interface,
peripherals or application specific variables. The different groups of these parameters are organized in
"banks" to allow a larger total number for future products. Currently, only bank 0 and 1 are used for global
parameters, and bank 2 is used for user variables.
All module settings will automatically be stored non-volatile (internal EEPROM of the processor). The
TMCL
TM
user variables will not be stored in the EEPROM automatically, but this can be done by using
STGP commands.
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 (on board) device.
Related commands: GGP, STGP, RSGP, AGP
Mnemonic: SGP <parameter number>, <bank number>, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
9
<parameter
number>
<bank number>
<value>
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Global parameters of bank 0, which can be used for SGP:
Number
Global parameter
Description
Range
64
EEPROM magic
Setting this parameter to a different value as $E4 will
cause re-initialization of the axis and global
parameters (to factory defaults) after the next power
up. This is useful in case of miss-configuration.
0…255
65
RS232/RS485 baud rate
0
9600 baud (default)
1
14400 baud
2
19200 baud
3
28800 baud
4
38400 baud
5
57600 baud
6
76800 baud
Not supported by Windows!
7
(115200 baud)
0…7
66
Serial address
The module (target) address for RS-232/RS-485.
0…255
67
ASCII mode
Configure the TMCL
TM
ASCII interface:
Bit 0: 0 – start up in binary (normal) mode
1 – start up in ASCII mode
Bits 4 and 5:
00 – Echo back each character
01 – Echo back complete command
10 – Do not send echo, only send command reply
73
Configuration EEPROM
lock flag
Write: 1234 to lock the EEPROM, 4321 to unlock it.
Read: 1=EEPROM locked, 0=EEPROM unlocked.
0/1