User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 62
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.24 SCO (set coordinate)
Up to 20 position values (coordinates) can be stored for every axis for use with the MVP COORD command.
This command sets a coordinate to a specified value.
Please note that the coordinate number 0 is always stored in RAM only. All others are also stored in
the EEPROM.
Internal function: The passed value is stored in the internal position array.
Related commands: GCO, CCO, MVP
Mnemonic: SCO <coordinate number>, 0, <position>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
30
<coordinate number>
(0…20)
0*
<position>
(-2
23
…+2
23
)
* motor number is always 0 as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Set coordinate #1 of motor to 1000
Mnemonic: SCO 1, 0, 1000
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$1e
$01
$00
$00
$00
$03
$e8
$0d