User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 15
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4.6 Commands
The module specific commands are explained in more detail on the following pages. They are listed
according to their command number.
4.6.1 ROR (rotate right)
The motor will be instructed to rotate with a specified velocity in right direction (increasing the position
counter).
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter
#2 (target velocity).
Related commands: ROL, MST, SAP, GAP
Mnemonic: ROR 0, <velocity>
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE <velocity>
1
don’t care
0
-2147483648…
[phone]
Reply in direct mode:
STATUS
COMMAND
VALUE
100 – OK
1
don’t care
Example:
Rotate right, velocity = 350
Mnemonic: ROR 0, 350
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$01
$00
$00
$00
$00
$01
$5e