In this paper, we present a binary amplitude-only modulation parallel coordinate algorithm for focusing and scanning light through a multimode fiber (MMF) based on the digital micro-mirror device (DMD) in a reference-free multimode fiber imaging system. In principle, our algorithm is capable of efficiently calculating the masks to be added to DMD for yielding a series of tightly focused spots; and for the same number of modulation sub-regions, our method is more than M (the number of focused spots) times faster than the amplitude iterative optimization algorithm. In the experiment, efficient light focusing and scanning at the distal end of the MMF are demonstrated. Furthermore, we demonstrate that the proposed method can also be extended to focus and scan light at multiple planes along the axial direction by just modifying the input wavefront accordingly; and our algorithm can be applied not only in multimode optical fiber focusing but also to other disordered media. Particularly, it will be valuable in fast multimode fiber calibration for endoscopic imaging. ? 2019, Springer-Verlag GmbH Germany, part of Springer Nature.