User Manual

TMCM-6212 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.07 • 2019-JAN-25
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Binary Form of MVP COORD, 0, 8
Field Value
Target address 01
h
Instruction number 04
h
Type 02
h
Motor/Bank 00
h
Value (Byte 3) 00
h
Value (Byte 2) 00
h
Value (Byte 1) 00
h
Value (Byte 0) 08
h
Checksum 0F
h
Note
Before moving to a stored coordinate, the coordinate has to be set using an SCO,
CCO or ACO command.
Info
The following options are available for the MVP COORD command:
• Moving only one motor: Set the <motor> parameter to the motor number
(0. . . 5).
• Moving multiple motors without interpolation: Set bit 7 of the <motor>
parameter. Now the bits 0. . . 5 of the <motor> parameter define which
motors are to be started. Each of these bits stands for one motor. The
number of motors that can be started simulataneously without interpolation
is not limited.
• Moving multiple motors using interpolation: Set bit 6 of the <motor> param-
eter. Now the bits 0. . . 5 of the <motor> parameter define which motors are
to be moved using interpolation. Each of these bits stands for one motor.
Examples:
• Move motors #0, #1 and #2 to coordinate #2 using interpolation: MVP
COORD, $47, 2.
• Move motors #0 and #2 to coordinate #5 without interpolation: MVP COORD,
$85, 5.
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