Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Datenbogen
Produktcode
11-0011
TMCL Reference Manual
44
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
3.29 AAP – Accumulator to Axis Parameter
Description: 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.
See chapter 4 for a complete list of axis parameters.
Related commands: AGP, SAP, GAP, SGP, GGP, GIO, GCO, CALC, CALCX
Mnemonic: AAP <parameter number>, <motor number>
Binary representation:
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.
See chapter 4 for a complete list of axis parameters.
Related commands: AGP, SAP, GAP, SGP, GGP, GIO, GCO, CALC, CALCX
Mnemonic: AAP <parameter number>, <motor number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
34
<parameter
number>
number>
<motor number>,
<don't care>
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Parameter ranges:
Module
Parameter number Motor number
TMCM-300/301/302/303/310
s. Table
0..2
TMCM-100
s. Table
always 0
Example: Positioning motor #0 by a potentiometer connected to the analogue input #0:
Start: GIO 0,1
// get value of analogue input line 0
CALC MUL, 4
// multiply by 4
AAP 0,0
// transfer result to target position of motor 0
JA Start
// jump back to start
Binary format of the AAP 0,0 command:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
address
Instruction
Number
Number
Type
Motor/
Bank
Bank
Operand
Byte3
Byte3
Operand
Byte2
Byte2
Operand
Byte1
Byte1
Operand
Byte0
Byte0
Checksum
Value (hex)
$01
$22
$00
$00
$00
$00
$00
$00
$23