User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
SAP Example:
Absolute Maximum Current 2000mA: Mnemonic: SAP6, 0, 2000
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
$05
$06
$00
$00
$00
$07
$D0
Table 21: SAP Example: Absolute Max. Current 2000MA:
1.2.6 GAP (Get Axis Parameter)
Most parameters of the TMCC160-EVAL can be adjusted separately. They can be read
out using the GAP command.
Related commands: SAP, STAP, and RSAP
Mnemonic: GAP <parameter number>, 0
NOTE:
 A GAP request example is provided in Table 24, and for a GAP reply example in
Table 25 (page 14).
GAP Request in Direct Mode
COMMAND
TYPE
MOT/BANK
VALUE
6
<parameter number>
0
don’t care
Table 22: GAP (Get Axis Parameter) Request in Direct Mode
GAP Reply in Direct Mode
STATUS
COMMAND
VALUE
100 – OK
6
don’t care
Table 23: GAP (Get Axis Parameter) Reply in Direct Mode
i A list of all parameters which can be used for the GAP command is shown in section 3.
GAP Request Example:
Get the actual position of motor 0: Mnemonic: GAP 1, 0
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
$06
$01
$00
$00
$00
$00
$00
Table 24: GAP Request Example: Get actual Position of Motor 0
Separate
Adjustment of
TMCC160-EVAL
Parameters