User Manual

TMCM-3230 TMCL

™

Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10

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3.6.22 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. 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).

Note

Coordinate #0 is always stored in RAM only.

Internal function: the passed value is stored in the internal position array.

Related commands: GCO, CCO, ACO, MVP COORD.

Mnemonic: SCO <coordinate number>, <motor number>, <position>

Binary Representation

Instruction Type Motor/Bank Value

30 <coordinate number> <motor number> <position>

0. . . 20 0. . . 2 −2

. . . 2

− 1

Example

Set coordinate #1 of motor #0 to 1000.

Mnemonic: SCO 1, 0, 1000

Binary Form of SCO 1, 0, 1000

Field Value

Target address 01

Instruction number 1E

Type 01

Motor/Bank 00

Value (Byte 3) 00

Value (Byte 2) 00

Value (Byte 1) 03

Value (Byte 0) E8

Checksum 0B

Two special functions of this command have been introduced that make it possible to copy all coordinates

or one selected coordinate to the EEPROM. These functions can be accessed using the following special

forms of the SCO command:

• SCO 0, 255, 0 copies all coordinates (except coordinate number 0) from RAM to the EEPROM.

•

SCO <coordinate number>, 255, 0 copies the coordinate selected by <coordinate number> to the

EEPROM. The coordinate number must be a value between 1 and 20.

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