TMCM-142 TMCL
TM
Firmware Manual (V1.06 / 2014-JUN-24)
84
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.30
AGP (accumulator to global parameter)
The content of the accumulator register is transferred to the specified global 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.
Note that the global parameters in bank 0 are
EEPROM-only and thus should not be modified automatically by a stand-alone application.
(See chapter
0 for a complete list of global parameters).
Related commands:
AAP, SGP, GGP, SAP, GAP, GIO
Mnemonic:
AGP <parameter number>, <bank number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
35
<parameter
number>
<bank number>
(don't care)
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Global parameters of bank 0, which can be used for AGP:
Number Global parameter
Description
Range
64
EEPROM magic
Setting this parameter to a different value as $E4 will
cause re-initialization of the axis and global parameters
(to factory defaults) after the next power up. This is
useful in case of miss-configuration.
0…255
65
RS232/RS485 baud rate
0
9600 baud
Default
1
14400 baud
2
19200 baud
3
28800 baud
4
38400 baud
5
57600 baud
6
76800 baud
Not supported by Windows!
7
115200 baud
8
230400 baud
9
250000 baud
Not supported by Windows!
10
500000 baud
Not supported by Windows!
11
1000000 baud
Not supported by Windows!
0…11
66
serial address
The module (target) address for RS-232/RS-485.
0…255
67
ASCII mode
Configure the TMCL
TM
ASCII interface:
Bit 0: 0 – start up in binary (normal) mode
1 – start up in ASCII mode
Bits 4 and 5:
00 – Echo back each character
01 – Echo back complete command
10 – Do not send echo, only send command reply
69
CAN bit rate
1
10kBit/s
2
20kBit/s
3
50kBit/s
4
100kBit/s
5
125kBit/s
6
250kBit/s
7
500kBit/s
8
1000kBit/s
Default
1…7
