PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
39
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
5.7.7
STAP (store axis parameter)
An axis parameter previously set with a
Set Axis Parameter
command (SAP) will be stored permanent. Most
parameters are automatically restored after power up (refer to axis parameter list in chapter 6).
Internal function:
An axis parameter value stored in SRAM will be transferred to EEPROM and loaded from
EEPORM after next power up.
Related commands:
SAP, RSAP, GAP, AAP
Mnemonic:
STAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
7
<parameter number>
0
*
1
don’t care*
2
*
1
motor number is always O as only one motor is involved
*
2
the
value
operand
of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved.
Reply in direct mode:
STATUS
VALUE
100 – OK
don’t care
Parameter ranges:
Parameter number
Motor number
Value
s. chapter 6
0
s. chapter 6
List of parameters, which can be used for STAP:
Number Axis Parameter
Description
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.
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.
6
absolute max.
current (CS /
Current Scale)
The most important motor setting, since too
high values might cause motor damage!
The maximum value is 255. This value means
100% of the maximum current of the module.
The current adjustment is within the range 0…
255 and can be adjusted in 32 steps (0… 255
divided by eight; e.g. step 0 = 0… 7, step 1 =
8… 15 and so on).
7
standby current
The current limit two seconds after the motor
has stopped.
12
right limit switch
disable
1=right stop switch disabled
0=right stop switch enabled
13
left limit switch
disable
1=left stop switch disabled
0=left stop switch enabled
