User manual

TMCM-1640 TMCL Firmware V2.00 Manual (Rev. 2.00 / 2012-JUL-31) 16
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4.6.2 ROL (rotate left)
The motor will be instructed to rotate with a specified velocity (opposite direction compared to ROR,
decreasing the position counter).
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter
#2 (target velocity).
Related commands: ROR, MST, SAP, GAP
Mnemonic: ROL 0, <velocity>
Binary representation:
COMMAND
TYPE
MOT/BANK
VALUE <velocity>
2
don’t care
0
-2147483648…
[phone]
Reply in direct mode:
STATUS
COMMAND
VALUE
100 – OK
2
don’t care
Example:
Rotate left, velocity = 1200
Mnemonic: ROL 0, 1200
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
$02
$00
$00
$00
$00
$04
$b0