PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
33
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.7.6
GAP (get axis parameter)
Most parameters of the TMCM-1060 can be adjusted individually for the axis. With this parameter they can be
read out. In stand-alone mode the requested value is also transferred to the accumulator register for further
processing purposes (such as conditioned jumps). In direct mode the value read is only output in the
value
field of the reply (without affecting the accumulator).
Internal function:
The parameter is read out of the correct position in the appropriate device. The parameter
format is converted adding leading zeros (or ones for negative values).
Related commands:
SAP, STAP, AAP, RSAP
Mnemonic:
GAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
6
<parameter number>
0
*
don’t care
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
don’t care
List of parameters, which can be used for GAP:
Number Axis Parameter
Description
Range [Unit]
0
target (next)
position
The desired position in position mode (see
ramp mode, no. 138).
−2.147.483.648…
+2.147.483.647
[µsteps]
1
actual position
The current position of the motor. Should
only be overwritten for reference point
setting.
−2.147.483.648…
+2.147.483.647
[µsteps]
2
target (next)
speed
The desired speed in velocity mode (see ramp
mode, no. 138). In position mode, this
parameter is set automatically: to the
maximum speed during acceleration, and to
zero during deceleration and rest.
-268.435.455…
+268.435.454
[pps]
3
actual speed
The current rotation speed.
-268.435.455…
+268.435.454
[pps]
4
maximum
positioning
speed
Should not exceed the physically highest
possible value. Adjust the pulse divisor (no.
154), if the speed value is very low (<50) or
above the upper limit.
-268.435.455…
+268.435.454
[pps]
5
maximum
acceleration
The limit for acceleration (and deceleration).
Changing
this
parameter
requires
re-
calculation of the acceleration factor (no. 146)
and the acceleration divisor (no. 137), which is
done automatically.
0… +268.435.454
[pps/s]
