User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
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3.6.25 ACO (Accu to Coordinate)
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).
Note
Coordinate #0 is always stored in RAM only.
Internal function: the actual position of the selected motor is copied to selected coordinate array entry.
Related commands: SCO, GCO, CO, MVP COORD.
Mnemonic: ACO <coordinate number>, <motor number>
Binary Representation
Instruction Type Motor/Bank Value
39 <coordinate number> <motor number> 0 (don’t care)
0. . . 20 0. . . 2
Reply in Direct Mode
Status Value
100 - OK don’t care
Example
Copy the actual value of the accumulator to coordinate #1 of motor #0.
Mnemonic: ACO 1, 0
Binary Form of ACO 1, 0
Field Value
Target address 01
h
Instruction number 27
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 29
h
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