User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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© 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).
GAP Reply Example
Byte Index
0
1
2
3
4
5
6
7
Function
Host-
address
Target-
address
Status
Instruction
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$00
$01
$64
$06
$00
$00
$02
$c7
Table 25: GAP Reply Example
1.2.7 STAP (Store Axis Parameter)
The STAP command stores an axis parameter on a permanent basis; which was
previously set with a Set Axis Parameter command (SAP).
An axis parameter stored in SRAM will be transferred to EEPROM and loaded from
EEPROM after next power-up.
Related commands: SAP, RSAP, and GAP
Mnemonic: STAP <parameter number>, 0
NOTE:
 An example for STAP is provided below.
STAP Request in Direct Mode
COMMAND
TYPE
MOT/BANK
VALUE
7
<parameter number>
0
don’t care
1
Table 26: STAP (Store Axis Parameter) Request in Direct Mode
1
The value operand of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.
STAP Reply in Direct Mode
STATUS
COMMAND
VALUE
100 – OK
7
don’t care
Table 27: STAP (Store Axis Parameter) Reply in Direct Mode
i A list of all parameters which can be used for the STAP command is shown in section 3.
STAP Example:
Store Maximum Speed: STAP 4,0
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
$07
$04
$00
$00
$00
$00
$00
Table 28: STAP Example: Store Maximum Speed: STAP 4,0
i The STAP command has no effect when the configuration EEPROM is locked. In this case, the error
code 5 (configuration EEPROM locked) is returned.
STAP Settings
stored in SRAM