User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 48
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.12 RSGP (restore global parameter)
With this command the contents of a TMCL
TM
user variable can be restored from the EEPROM. For all
configuration-related axis parameters, non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up (see axis parameter list in chapter 0). A single
parameter that has been changed before can be reset by this instruction.
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)
Global parameters of bank 0, which can be used for RSGP:
The global parameter bank 0 is not required for the RSGP command, because these parameters are
automatically stored with the SGP command in EEPROM.
Global parameters of bank 1, which can be used for RSGP:
The global parameter bank 1 is normally not available. It may be used for customer specific extensions of
the firmware. Together with user definable commands (see section 7.3) these variables form the interface
between extensions of the firmware (written in C) and TMCL
TM
applications.
Global parameters of bank 2, which can be used for RSGP:
Bank 2 contains general purpose 32 bit variables for the use in TMCL
TM
applications. They are located in RAM
and can be stored to EEPROM. After booting, their values are automatically restored to the RAM.
Number
Global parameter
Description
0
General purpose variable #0
for use in TMCL
TM
applications
1
General purpose variable #1
for use in TMCL
TM
applications
2
General purpose variable #2
for use in TMCL
TM
applications
3
General purpose variable #3
for use in TMCL
TM
applications
4
General purpose variable #4
for use in TMCL
TM
applications
5
General purpose variable #5
for use in TMCL
TM
applications
6
General purpose variable #6
for use in TMCL
TM
applications
7
General purpose variable #7
for use in TMCL
TM
applications
8
General purpose variable #8
for use in TMCL
TM
applications
9
General purpose variable #9
for use in TMCL
TM
applications
10
General purpose variable #10
for use in TMCL
TM
applications
11
General purpose variable #11
for use in TMCL
TM
applications
12
General purpose variable #12
for use in TMCL
TM
applications
13
General purpose variable #13
for use in TMCL
TM
applications
14
General purpose variable #14
for use in TMCL
TM
applications
15
General purpose variable #15
for use in TMCL
TM
applications