User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
12/57
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
MVP ABS Example:
Move Motor to Absolute Position 9000: Mnemonic: MVP ABS, 0, 9000
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$04
$00
$00
$00
$00
$23
$28
Table 17: MVP ABS Example: Move Motor to Absolute Position 9000
MVP REL Example:
Move Motor 1000 steps to Relative Position (move relative -1000) : Mnemonic: MVP REL, 0, -1000
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$00
$04
$01
$00
$ff
$ff
$fc
$18
Table 18: (MVP REL Example: Move Motor 1000 Steps to Relative Position
1.2.5 SAP (Set Axis Parameter)
Most of the motion control parameters of the module can be specified by using the
SAP command. The settings are stored in SRAM and therefore are volatile. Thus,
information is lost after power-off.
i You must use command STAP (store axis parameter) in order to store your
specified setting permanently.
Related commands: GAP, STAP, and RSAP
Mnemonic: SAP <parameter number>, 0, <value>
NOTE:
 An Example for setting the axis parameter is provided in Table 21 (page 13).
SAP Request in Direct Mode
COMMAND
TYPE
MOT/BANK
VALUE
5
<parameter number>
0
<value>
Table 19: SAP (Set Axis Parameter) Request in Direct Mode
SAP Reply in Direct Mode
STATUS
COMMAND
VALUE
100 – OK
5
don’t care
Table 20: SAP (Set Axis Parameter) Reply in Direct Mode
A list of all parameters, which can be used for the SAP command, is shown in
section 3.
SRAM Settings
Process
Description