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MCST3601 TMCL™ Firmware V1.33 Manual (Ref. 0.90 / 2014-MAY-27)
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4.5.24 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). Please note that the coordinate number 0 is always stored in RAM only. Internal function: the passed value is stored in the internal position array. Related commands: GCO, CCO, MVP Mnemonic: SCO <coordinate number>, <motor number>, <position> Binary representation: INSTRUCTION NO. TYPE MOT/BANK VALUE 30 <coordinate number> <motor number> <position> 0… 20 0… 2 ‐223… +223 Reply in direct mode: STATUS VALUE 100 – OK don’t care Example: Set coordinate #1 of motor to 1000 Mnemonic: SCO 1, 0, 1000 Binary: Byte Index 0 1 2 3 4 5 6 7 Function Target‐ Instruction Type Motor/ Operand Operand Operand Operand
address Number Bank Byte3 Byte2 Byte1 Byte0 Value (hex) $01 $1e $01 $00 $00 $00 $03 $e8 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. www.trinamic.com