User Manual

TMCM-3351 TMCL

™

Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26

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3.6.52 AAPX (Accu to Axis Parameter, Axis speciﬁed by X Register)

The AAPX command nearly works the same way as the AAP command, with the only exception that the

axis number is speciﬁed by the X register. This command is mainly intended for use in standalone mode.

Info

For a table with parameters and values which can be used together with this

command please refer to section 4.

Related commands: SAPX, GAPX.

Mnemonic: AAPX <parameter number>

Binary Representation

Instruction Type Motor/Bank Value

18 see chapter 4 (don’t care) (don’t care)

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Loop over all motors, positon them at diﬀerent speeds:

SGP 0, 2, 5 // initalize user variable 0 with 5 (used as loop counter)

CALCXV LOAD , 0 //set X register to 0

SGP 1, 2, 50 // initialize user variable 1 with 50

Loop:

GGP 1, 2 //copy user variable 1 to accu

CALCXV LOAD , 0 // copy user variable 0 (loop counter) to X register

AAPX 4 //set maximum positioning speed of motor

CALC LOAD , 51200 // initialize accu with target position

MVPXA ABS // position motor

WAIT TICKS , 0, 100 //wait 1 second

CALCV MUL , 1, 2 //multiply user variable 1 with 2

DJNZ 0, Loop // next iteration

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