TMCM-351 TMCL Firmware V4.45 Manual (Rev. 1.06 / 2014-MAY-16)
27
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4.6.5
SAP (set axis parameter)
With this command most of the motion control parameters can be specified. The settings will be stored in
SRAM and therefore are volatile. That is, information will be lost after power off.
Please use command STAP (store axis parameter) in order to store any setting permanently.
Internal function:
the parameter format is converted ignoring leading zeros (or ones for negative values).
The parameter is transferred to the correct position in the appropriate device.
Related commands:
GAP, STAP, RSAP, AAP
Mnemonic:
SAP <parameter number>, <motor>, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
5
<parameter number>
<motor>
0… 2
<value>
Reply in direct mode:
STATUS
VALUE
100 – OK
don’t care
For a table with parameters and values which can be used together with this command please refer to
chapter 5.
Example:
Set the absolute maximum current of motor 0 to 1.4
A
Because of the current unit
the 200mA setting has the <value> 128 (value range
for current setting: 0… 255). The value for current setting has to be calculated before using this
special SAP command.
Mnemonic:
SAP 6, 0, 128
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$05
$06
$00
$00
$00
$00
$12
