TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
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PD-109-57 V2 TMCL <strong>Firmware</strong> <strong>Manual</strong> (V1.00/2010-FEB-18) 69<br />
6.7.28 AAP (accumulator to axis parameter)<br />
The content of the accumulator register is transferred to the specified axis parameter. For practical usage,<br />
the accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been<br />
modified by the CALC or CALCX (calculate) instruction.<br />
Related commands: AGP, SAP, GAP, SGP, GGP, GIO, GCO, CALC, CALCX<br />
Mnemonic: AAP , <br />
Binary representation:<br />
INSTRUCTION NO. TYPE MOT/BANK VALUE<br />
34 <br />
* Motor number is always 0 as only one motor is involved.<br />
Reply in direct mode:<br />
STATUS VALUE<br />
100 – OK (don't care)<br />
List of parameters, which can be used for AAP:<br />
Number Axis Parameter Description<br />
0 target (next) The desired position in position mode (see<br />
position ramp mode, no. 138).<br />
1 actual position The current position of the motor. Should<br />
only be overwritten for reference point<br />
setting.<br />
2 target (next) The desired speed in velocity mode (see ramp<br />
speed<br />
mode, no. 138). In position mode, this<br />
parameter is set by hardware: to the<br />
maximum speed during acceleration, and to<br />
zero during deceleration and rest.<br />
3 actual speed The current rotation speed.<br />
4 maximum Should not exceed the physically highest<br />
positioning possible value. Adjust the pulse divisor (no.<br />
speed<br />
154), if the speed value is very low (
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