User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 69
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5.7.26 CCO (capture coordinate)
The actual position of the axis is copied to the selected coordinate variable. Depending on the global
parameter 84, the coordinates are only stored in RAM or also stored in the EEPROM and copied back on
startup (with the default setting the coordinates are stored in RAM only). Please see the SCO and GCO
commands on how to copy coordinates between RAM and EEPROM.
Note that the coordinate number 0 is always stored in RAM only.
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