TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
46
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.8
RSAP (restore axis parameter)
For all configuration-related axis parameters non-volatile memory locations are provided. By default, most
parameters are automatically restored after power up. A single parameter that has been changed before can
be reset by this instruction also.
Internal function:
The specified parameter is copied from the configuration EEPROM memory to its RAM
location.
Relate commands:
SAP, STAP, GAP, and AAP
Mnemonic:
RSAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
8
<parameter number>
0
*
(don't care)
*motor number is always O as only one motor is involved
Reply structure in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Axis parameters, which can be used for RSAP:
Please note, that for the binary representation <parameter number> has to be filled with the
number
and the binary representation <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.
