User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
1.2.9 SGP (Set Global Parameter)
Global parameters are related to the host interface, peripherals or other application
specific variables. The different groups of these parameters are organized in banks to
allow a larger total number for future products.
Currently, bank 0 is used for global parameters and bank 2 is intended for user
variables.
Related commands: GGP, STGP, RSGP
Mnemonic: SGP <parameter number>, <bank number>, <value>
NOTE:
 An example for SGP is provided below.
SGP Request in Direct Mode
COMMAND
TYPE
MOT/BANK
VALUE
9
<parameter number>
<bank number>
<value>
Table 32: SGP (Set Global Parameter) Request in Direct Mode
SGP Reply in Direct Mode
STATUS
VALUE
100 – OK
don’t care
Table 33: SGP (Set Global Parameter) Reply in Direct Mode
i A list of all parameters which can be used for the SGP command is shown in section 4.
SGP Example:
Set Variable 0 at Bank 2 to 100: Mnemonic: SGP, 0, 2, 100
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
$09
$00
$02
$00
$00
$00
$64
Table 34: SGP Example: Mnemonic: SGP, 0, 2, 100
Organization of
Parameters in
Banks