TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
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PD-109-57 V2 TMCL <strong>Firmware</strong> <strong>Manual</strong> (V1.00/2010-FEB-18) 65<br />
6.7.24 SCO (set coordinate)<br />
Up to 20 position values (coordinates) can be stored for every axis for use with the MVP COORD command.<br />
This command sets a coordinate to a specified value.<br />
Please note that the coordinate number 0 is always stored in RAM only. All others are also stored in<br />
the EEPROM.<br />
Internal function: The passed value is stored in the internal position array.<br />
Related commands: GCO, CCO, MVP<br />
Mnemonic: SCO , , <br />
Binary representation:<br />
INSTRUCTION NO. TYPE MOT/BANK VALUE<br />
30 <br />
(0… 20)<br />
* Motor number is always 0 as only one motor is involved.<br />
Reply in direct mode:<br />
STATUS VALUE<br />
100 – OK (don't care)<br />
Example:<br />
Set coordinate #1 of motor to 1000<br />
Mnemonic: SCO 1, 0, 1000<br />
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG<br />
0* <br />
(-2 23 … +2 23 )<br />
Binary:<br />
Byte Index 0 1 2 3 4 5 6 7 8<br />
Function Target- Instruction Type Motor/ Operand Operand Operand Operand Checksum<br />
address Number<br />
Bank Byte3 Byte2 Byte1 Byte0<br />
Value (hex) $01 $1e $01 $00 $00 $00 $03 $e8 $0b
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