User manual

TMCM-1161 TMCL Firmware V1.19 Manual (Rev. 1.04 / 2012-NOV-19) 26
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3.5.7 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 (refer to axis parameter list in chapter 4).
For a table with parameters and values which can be used together with this command please refer to
chapter 4.
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>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
7
<parameter number>
0*
1
(don't care)*
2
*
1
motor number is always O as only one motor is involved
*
2
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)
Parameter ranges:
Parameter number
Motor number
Value
s. chapter 4
0
s. chapter 4
Example:
Store the maximum speed of motor
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
Note: The STAP command will not have any effect when the configuration EEPROM is locked (refer to 5.1).
In direct mode, the error code 5 (configuration EEPROM locked, see also section 3.2.1) will be returned in
this case.