Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Data Sheet
Product codes
11-0011
TMCL Reference Manual
17
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
3.5 SAP – Set Axis Parameter
Description: Most parameters of a TMCM module can be adjusted individually for each axis. Although these
parameters vary widely in their formats (1 to 24 bits, signed or unsigned) and physical locations (TMC428, TMC453,
controller RAM, controller EEPROM), they all can be set by this function. See chapter 4 for a complete list of all
axis parameters. See STAP (section 3.7) for permanent storage of a modified value.
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>, <motor number>, <value>
Binary representation:
parameters vary widely in their formats (1 to 24 bits, signed or unsigned) and physical locations (TMC428, TMC453,
controller RAM, controller EEPROM), they all can be set by this function. See chapter 4 for a complete list of all
axis parameters. See STAP (section 3.7) for permanent storage of a modified value.
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>, <motor number>, <value>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
5
<parameter
number>
number>
<motor number>
<value>
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Parameter ranges:
Module
Parameter number Motor number Value
TMCM-300/301/302/303/310
s. chapter 4
0..2
s. chapter 4
TMCM-100
s. chapter 4
always 0
s. chapter 4
Example:
set the absolute maximum current of motor #1 to 200mA
Mnemonic: SAP 6, 1, 200
Binary:
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
$05
$06
$01
$00
$00
$00
$c8
$d5
Note:
The parameter numbers are different in TMCL firmware versions before 2.18. Please upgrade to a newer
firmware version if you have such an old version.