TMCM-3314 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.10 • 2019-JAN-25
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3.6.52
AAPX (Accu to Axis Parameter, Axis specified by X Register)
The AAPX command nearly works the same way as the
command, with the only exception that the
axis number is specified by the X register.
This command is mainly intended for use in standalone mode.
Info
For a table with parameters and values which can be used together with this
command please refer to section
Related commands:
SAPX, GAPX.
Mnemonic:
AAPX <parameter number>
Binary Representation
Instruction
Type
Motor/Bank
Value
18
see chapter
(don’t care)
(don’t care)
Reply in Direct Mode
Status
Value
100 - OK
don’t care
Example
Loop over all motors, positon them at different speeds:
SGP 0, 2, 5
// initalize user variable 0 with 5 ( used as loop counter )
2
CALCXV LOAD , 0
// set X register to 0
SGP 1, 2, 50
// initialize user variable 1 with 50
4
Loop :
6
GGP 1, 2
// copy user variable 1 to accu
CALCXV LOAD , 0
// copy user variable 0 ( loop counter ) to X register
8
AAPX 4
// set maximum positioning speed of motor
CALC LOAD , 51200
// initialize accu with target position
10
MVPXA ABS
// position motor
WAIT TICKS , 0, 100
// wait 1 second
12
CALCV MUL , 1, 2
// multiply user variable 1 with 2
DJNZ 0, Loop
// next iteration
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