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).
1.2.8 RSAP (Restore Axis Parameter)
For all configuration-related axis parameters non-volatile memory locations are
provided. By default, most parameters are automatically restored after power-up.
A single parameter - that was changed beforehand - can now be reset as well, as
explained below:
The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Related commands: SAP, STAP, and GAP
Mnemonic: RSAP <parameter number>, 0
NOTE:
 An example for RSAP is provided below.
RSAP Request in Direct Mode
COMMAND
TYPE
MOT/BANK
VALUE
8
<parameter number>
0
don’t care
Table 29: RSAP Request in Direct Mode
RSAP Reply in Direct Mode
STATUS
COMMAND
VALUE
100 – OK
8
don’t care
Table 30: RSAP Reply in Direct Mode
i A list of all parameters - which can be used for the RSAP command - is shown in section 3.
RSAP Example:
Restore Maximum Motor Current 0: Mnemonic: RSAP 6, 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
$08
$06
$00
$00
$00
$00
$00
Table 31: RSAP Example: Restore Maximum Motor Current 0
Non-Volatile
Memory
Locations
Process
Description