User Manual

TMCM-1276 TMCL
™
Firmware Manual • Firmware Version V1.13 | Document Revision V1.01 • 2019-MAR-20
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3.6.7 SGP (Set Global Parameter)
With this command most of the module specific parameters not directly related to motion control can be
specified and the TMCL user variables can be changed. Global parameters are related to the host interface,
peripherals or 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 used for user variables. Bank 3 is used for interrupt configuration.
All module settings in bank 0 will automatically be stored in non-volatile memory (EEPROM).
Info
For a table with parameters and values which can be used together with this
command please refer to section 5.
Internal function: The specified value will be copied to the global parameter specified by the type and
bank number. Most parameters of bank 0 will automatically be stored in non-volatile memory.
Related commands: GGP, AGP.
Mnemonic: SGP <parameter number>, <bank>, <value>
Binary Representation
Instruction Type Motor/Bank Value
9 see chapter 5 0/2/3 <value>
Reply in Direct Mode
Status Value
100 - OK don’t care
Example
Set the serial address of the device to 3.
Mnemonic: SGP 66, 0, 3.
Binary Form of SGP 66, 0, 3
Field Value
Target address 01
h
Instruction number 09
h
Type 42
h
Motor/Bank 00
h
Value (Byte 3) 00
h
Value (Byte 2) 00
h
Value (Byte 1) 00
h
Value (Byte 0) 03
h
Checksum 4F
h
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