====== Command:SAP ======

--> MS2000 or RM2000 syntax ^

^Shortcut  |SAP| 
^Format  |SAP [axis]=### …|
^Units    |Integer code, 0-255 (see below)|
^Remembered |Using SS Z |
^Firmware Module | [[:singleaxis|SINGLEAXIS_FUNCTION]] |

<--

--> Tiger syntax ^

^Shortcut  |SAP| 
^Format  |SAP [axis]=### …|
^Units    |Integer code, 0-255 (see below)|
^Type    |Axis-Specific  |
^Remembered |Using [addr#]SS Z |
^Firmware Module | [[:singleaxis|SINGLEAXIS_FUNCTION]] |

<--

This command sets the type of pattern to generate and configures the clocks. The parameter is a bit-mapped number that determines the characteristics of the motion, with the lowest bits determining the type of pattern.  The code is interpreted according to the following table:

^ Bit  ^ Clear                                                                                                                                                                              ^ Set                                      ^
| 7    | Internal Trigger                                                                                                                                                                   | External Trigger on Backplane TTL input  |
| 6    | Polarity of Trigger: positive edge                                                                                                                                                 | Polarity of Trigger: negative edge       |
| 5    | No TTL out                                                                                                                                                                         | TTL out                                  |
| 4    | Polarity of TTL out: active high                                                                                                                                                   | Polarity of TTL out: active low          |
| 3    | Reserved                                                                                                                                                                           | Reserved                                 |
| 2-0  | ''000'' Ramp/Sawtooth Wave (code 0) \\ ''001'' Triangle Wave (code 1) (period always even number of milliseconds) \\ ''010'' Square Wave (code 2) (period always even number of milliseconds) \\ ''011'' Sine Wave (code 3) \\ ''100'' Variable Triangle Wave (code 4) <wrap lo>Tiger v3.55 required</wrap>\\ ''101'' Reserved (code 5)          ||

The Variable Triangle Wave pattern uses the [[:commands:os|OS command]] to change the time in milliseconds it takes to reach to the peak of the waveform.

The TTL inputs for external triggering will individually trigger each axis as follows:
^ Triggered Axis  ^ Backplane Trigger input address  ^ Backplane TTL out address  ^
| 0               | 42                               | 41                         |
| 1               | 44                               | 43                         |
| 2               | 46                               | 45                         |
| 3               | 48                               | 47                         |


== Example ==

<asi> $ SAP R=0   
:A</asi>
Sets up for ramp (sawtooth) pattern, running off internal clock with no TTL outs 
<asi> $ SAP R=129   
:A</asi>
Sets up for triangle pattern, running off positive edge external TTL clock with no TTL outs. 
<asi> $ SAP R=161   
:A</asi>
Sets up for triangle pattern, running off positive edge external TTL clock with TTL outs.  A 250usec pulse is put out at the start of the pattern. 

<WRAP center round info 60%>
Serial command [[commands:ttl|<Card Addr#>TTL Y=22]] will route the TTL pulses generated when BIT5 is set, to the  TTL OUT0 port. Available only in Tiger firmware v3.17 and above.  
</WRAP>


{{tag>commands tiger ms2000 singleaxis}}