TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual
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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.2 TMCL – Axis Parameter Commands
3.2.1 SAP - TMCL Set Axis Parameter
Description:
Most parameters of a TMCM module can be adjusted individually for each axis.
Although these parameters vary widely in their formats (1 to 24 bits, signed or unsigned) and physical
locations (controller RAM, controller EEPROM), they all can be set by this function. See STAP
(section 3.2.3) for permanent storage of a modified value.
Do not set parameters out of the specified range. This may lead to undetermined behavior of the
module and may not be compatible with future firmware revisions!
Related commands:
GAP, STAP
Mnemonic:
SAP <parameter number>, <motor number>, <value>
Binary representation:
INSTRUCTION NO.
TYPE MOT/BANK VALUE
5
<parameter number>
<motor number>
<value>
Example:
set the absolute maximum current of motor #0 to 200mA
Mnemonic:
SAP 6, 0, 200
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01 $05 $06
$00
$00 $00 $00 $c8 $d4
