TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
PD-109-57 V2 TMCL <strong>Firmware</strong> <strong>Manual</strong> (V1.00/2010-FEB-18) 40<br />
6.7.8 RSAP (restore axis parameter)<br />
For all configuration-related axis parameters non-volatile memory locations are provided. By default, most<br />
parameters are automatically restored after power up (refer to axis parameter list in chapter 7). A single<br />
parameter that has been changed before can be reset by this instruction also.<br />
Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM<br />
location.<br />
Relate commands: SAP, STAP, GAP, and AAP<br />
Mnemonic: RSAP , <br />
Binary representation:<br />
INSTRUCTION NO. TYPE MOT/BANK VALUE<br />
8 * (don't care)<br />
* Motor number is always 0 as only one motor is involved.<br />
Reply structure in direct mode:<br />
STATUS VALUE<br />
100 – OK (don't care)<br />
List of parameters, which can be used for RSAP:<br />
Number Axis Parameter Description<br />
4 maximum<br />
positioning<br />
speed<br />
5 maximum<br />
acceleration<br />
6 absolute max.<br />
current<br />
Should not exceed the physically highest<br />
possible value. Adjust the pulse divisor (no.<br />
154), if the speed value is very low (