User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 70
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5.7.27 ACO (accu to coordinate; valid from TMCL™ version 4.18 on)
With the ACO command the actual value of the accumulator is copied to a selected coordinate of the motor.
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 note, that this command is valid from TMCL™ version 4.18 and TMCL-IDE version 1.77 on.
Please note also that the coordinate number 0 is always stored in RAM only. For Information about
storing coordinates refer to the SCO command.
Internal function: The actual value of the accumulator is stored in the internal position array.
Related commands: GCO, CCO, MVP COORD, SCO
Mnemonic: ACO <coordinate number>, 0
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
39
<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:
Copy the actual value of the accumulator to coordinate 1 of motor
Mnemonic: ACO 1, 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
$27
$01
$00
$00
$00
$00
$00
$29