User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 70
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.29 AGP (accumulator to global parameter)
The content of the accumulator register is transferred to the specified global 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. Note that the global parameters in bank 0 are
EEPROM-only and thus should not be modified automatically by a stand-alone application. (See chapter
0 for a complete list of global parameters).
Related commands: AAP, SGP, GGP, SAP, GAP, GIO
Mnemonic: AGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
35
<parameter
number>
<bank number>
(don't care)
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Global parameters of bank 0, which can be used for AGP:
Number
Global parameter
Description
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.
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)
66
Serial address
The module (target) address for RS-232/RS-485.
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
69
CAN bit rate
1 – 10kBit/s
2 – 20kBit/s
3 – 50kBit/s
4 – 100kBit/s
5 – 125kBit/s
6 – 250kBit/s (default)
7 – 500kBit/s
8 – 1000kBit/s
70
CAN reply ID
The CAN ID for replies from the board (default: 2)
71
CAN ID
The module (target) address for CAN (default: 1)
73
Configuration EEPROM
lock flag
Write: 1234 to lock the EEPROM, 4321 to unlock it.
Read: 1=EEPROM locked, 0=EEPROM unlocked.