TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
79
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.29
AAP (accumulator to axis parameter)
The content of the accumulator register is transferred to the specified axis parameter. For practical usage,
the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been
modified by the CALC or CALCX (calculate) instruction. (See chapter XXX for a complete list of axis
parameters.)
Related commands:
AGP, SAP, GAP, SGP, GGP, GIO, GCO, CALC, CALCX
Mnemonic:
AAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
34
<parameter
number>
0
*
<don't care>
* motor number is always 0 as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
List of basic parameters, which can be used for AAP:
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.
