User manual

PDx-113-57/60-SE / TMCM-113-57/60-SE Firmware Manual (V1.10 / 2009-OCT-28) 21
Copyright © 2009, TRINAMIC Motion Control GmbH & Co. KG
6.7.2 ROL (rotate left)
With this command 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
#0 (target velocity).
The module is based on the TMC428 motor controller and the TMC249 power driver. This makes possible
choosing a velocity between 0 and 2047.
Related commands: ROR, MST, SAP, GAP
Mnemonic: ROL 0, <velocity>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
2
(don't care)
0*
<velocity>
0… 2047
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Rotate left, motor 0, velocity = 1200
Mnemonic: ROL 0, 1200
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$02
$00
$00
$00
$00
$04
$b0
$b8