TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
PD-109-57 V2 TMCL <strong>Firmware</strong> <strong>Manual</strong> (V1.00/2010-FEB-18) 67<br />
6.7.26 CCO (capture coordinate)<br />
The actual position of the axis is copied to the selected coordinate variable.<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 selected (24 bit) position values are written to the 20 by 3 bytes wide coordinate<br />
array.<br />
Related commands: SCO, GCO, MVP<br />
Mnemonic: CCO , <br />
Binary representation:<br />
INSTRUCTION NO. TYPE MOT/BANK VALUE<br />
32 <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 />
Store current position of the axis to coordinate 3<br />
Mnemonic: CCO 3, 0<br />
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG<br />
0*<br />
(don't care)<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 $20 $03 $00 $00 $00 $00 $00 $24
Change language