User manual
TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 72
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5.7.29 AAP (accumulator to axis parameter)
The content of the accumulator register is transferred to the specified axis parameter. For practical usage, the
accumulator has to be loaded e.g. by a preceding GAP instruction. The accumulator may have been modified
by the CALC or CALCX (calculate) instruction.
Related commands: AGP, SAP, GAP, SGP, GGP, GIO, GCO, CALC, CALCX
Mnemonic: AAP <parameter number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
34
<parameter
number>
0*
<don't care>
* Motor number is always 0 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 AAP:
Number
Axis Parameter
Description
0
target (next)
position
The desired position in position mode (see
ramp mode, no. 138).
1
actual position
The current position of the motor. Should
only be overwritten for reference point
setting.
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.
3
actual speed
The current rotation speed.
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.
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.
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).
7
standby current
The current limit two seconds after the motor
has stopped.
12
right limit switch
disable
If set, deactivates the stop function of the
right switch