User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 64
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.26 CCO (capture coordinate)
The actual position of the axis is copied to the selected coordinate variable.
Please note that the coordinate number 0 is always stored in RAM only. All others are also stored in
the EEPROM.
Internal function: The selected (24 bit) position values are written to the 20 by 3 bytes wide coordinate
array.
Related commands: SCO, GCO, MVP
Mnemonic: CCO <coordinate number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
32
<coordinate number>
(0…20)
0*
(don't care)
* motor number is always 0 as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Store current position of the axe to coordinate 3
Mnemonic: CCO 3, 0
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
$20
$03
$00
$00
$00
$00
$00
$2b