User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
51 / 103
3.6.23 GCO (Get Coordinate)
Using this command previously stored coordinate can be read back. In standalone mode the requested
value is copied to the accumulator register for further processing purposes such as conditional jumps.
In direct mode, the value is only output in the value field of the reply, without affecting the accumulator.
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 desired value is read out of the internal coordinate array, copied to the accumulator
register and – in direct mode – returned in the value field of the reply.
Related commands: SCO, CCO, ACO, MVP COORD.
Mnemonic: GCO <coordinate number>, <motor number>
Binary Representation
Instruction Type Motor/Bank Value
31 <coordinate number> <motor number> 0 (don’t care)
0. . . 20 0. . . 2
Reply in Direct Mode
Status Value
100 - OK value read by this command
Example
Get coordinate #1 of motor #0.
Mnemonic: GCO 1, 0
Binary Form of GCO 1, 0
Field Value
Target address 01
h
Instruction number 1F
h
Type 01
h
Motor/Bank 00
h
Value (Byte 3) 00
h
Value (Byte 2) 00
h
Value (Byte 1) 00
h
Value (Byte 0) 00
h
Checksum 21
h
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