TMCM-351 TMCL Firmware V4.45 Manual (Rev. 1.06 / 2014-MAY-16)
29
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4.6.7
STAP (store axis parameter)
An axis parameter previously set with a
Set Axis Parameter
command (SAP) will be stored permanent. Most
parameters are automatically restored after power up.
Internal function:
an axis parameter value stored in SRAM will be transferred to EEPROM and loaded from
EEPORM after next power up.
Related commands:
SAP, RSAP, GAP, AAP
Mnemonic:
STAP <parameter number>, <motor>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
7
<parameter number>
<motor>
0… 2
don’t care*
*
the
value
operand
of this function has no effect. Instead, the currently used value (e.g. selected by SAP) is saved
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.
The STAP command will not have any effect when the configuration EEPROM is locked (refer to 6). In direct
mode, the error code 5 will be returned in this case.
Example:
Store the maximum speed of motor 0
Mnemonic:
STAP 4, 0
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
$07
$04
$00
$00
$00
$00
$00
