User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 43
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.10 GGP (get global parameter)
All global parameters can be read with this function. 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. Please refer to chapter 0 for a complete parameter list.
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: SGP, STGP, RSGP, AGP
Mnemonic: GGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
10
(see chapter 7)
<bank number>
see chapter 7
(don't care)
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Global parameters of bank 0, which can be used for GGP:
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…11
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
75
Telegram pause time
Pause time before the reply via RS232 or RS485 is sent.
For RS232 set to 0.
For RS485 it is often necessary to set it to 15 (for RS485
adapters controlled by the RTS pin).
For CAN interface this parameter has no effect!
0…255
76
Serial host address
Host address used in the reply telegrams sent back via
RS232 or RS485.
0..255