User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 66
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.28 AAP (accumulator to axis parameter)
The content of the accumulator register is transferred to the specified axis parameter. For practical usage,
the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been
modified by the CALC or CALCX (calculate) instruction.
Related commands: AGP, SAP, GAP, SGP, GGP, GIO, GCO, CALC, CALCX
Mnemonic: AAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
34
<parameter
number>
0*
<don't care>
* motor number is always 0 as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
List of parameters, which can be used for AAP:
Number
Axis Parameter
Description
0
target (next) position
The desired position in position mode (see ramp mode,
no. 138).
1
actual position
The current position of the motor. Should only be
overwritten for reference point setting.
2
target (next) speed
The desired speed in velocity mode (see ramp mode, no.
138). In position mode, this parameter is set by
hardware: to the maximum speed during acceleration,
and to zero during deceleration and rest.
3
actual speed
The current rotation speed.
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.