User manual
TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 27
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5.7.5 SAP (set axis parameter)
With this command most of the motion control parameters of the module 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>, 0, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
5
<parameter
number>
0*
<value>
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
List of parameters, which can be used for SAP:
Number
Axis Parameter
Description
Range [Unit]
0
target (next)
position
The desired position in position mode (see
ramp mode, no. 138).
2
23
[µsteps]
1
actual position
The current position of the motor. Should
only be overwritten for reference point
setting.
2
23
[µsteps]
2
target (next)
speed
The desired speed in velocity mode (see ramp
mode, no. 138). In position mode, this
parameter is set by hardware: to the
maximum speed during acceleration, and to
zero during deceleration and rest.
2047
3
actual speed
The current rotation speed.
2047
4
maximum
positioning
speed
Should not exceed the physically highest
possible value. Adjust the pulse divisor (no.
154), if the speed value is very low (<50) or
above the upper limit. See TMC 428 datasheet
for calculation of physical units.
0… 2047
5
maximum
acceleration
The limit for acceleration (and deceleration).
Changing this parameter requires re-
calculation of the acceleration factor (no. 146)
and the acceleration divisor (no. 137), which is
done automatically. See TMC 428 datasheet for
calculation of physical units.
0… 2047
6
absolute max.
current
(CS / Current
Scale)
The most important motor setting, since too
high values might cause motor damage!
The maximum value is 255. This value means
100% of the maximum current of the module.
The current adjustment is within the range 0…
255 and can be adjusted in 32 steps (0… 255
divided by eight; e.g. step 0 = 0… 7, step 1 =
8… 15 and so on).
0… 255