TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
41
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.7
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.
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 7
0
s. chapter 7
Axis parameters, which can be used for STAP:
Please note, that for the binary representation <parameter number> has to be filled with the
number
and the <value> has to be filled with a value from
range
.
Number Axis parameter
Description
0
Target position
1
Actual position
2
Target speed
3
Actual speed
4
Max. positioning speed
Speed used for positioning (MVP
commands).
5
Max.
acceleration
and
deceleration
Sets acceleration and deceleration
to the same value.
6
Max. current
Current when motor is running. 0
means 0%, 15 means 100% of the
maximum possible current.
7
Standby current
Current when motor is standing. 0
means 0%, 15 means 100% of the
maximum possible current.
12
Right limit switch disable
Deactivates the function of the
right limit switch when set to 1.
13
Left limit switch disable
Deactivates the function of the left
limit switch when set to 1.
