The image distortions caused by the inherent mode dispersion and coupling of the multimode fiber (MMF) lead its output light field to be scattered and prevent it from applicating in endoscopy. Although various wavefront shaping methods have been proposed to overcome these image distortions and form the focused spots through the MMF, they a re usually time-consuming due to the multiple iterations and tedious calculation. 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 without the iteration process 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. We predict the high-speed focusing method through the MMF might have the potential application for fast spot-scanning imaging. © 2020 SPIE.