User Manual

PD42-1240 TMCL
Firmware Manual Firmware Version V1.45 | Document Revision V1.02 2018-DEC-03
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3.6.44 ROLA (Rotate Left using the Accumulator Register)
Rotate in left direction (decreasing the position counter) using the velocity specied by the contents of the
accumulator register. The velocity is given in microsteps per second (pulse per second [pps]).
Internal function:
First, velocity mode is selected.
Then, the content of the accumulator is copied to axis parameter #2 (target velocity).
Related commands: RORA, MST, SAP, GAP.
Mnemonic: ROLA <axis>
Binary Representation
Instruction Type Motor/Bank Value
50 0 (dont care) 0 (dont care) 0 (dont care)
Reply in Direct Mode
Status Value
100 - OK dont care
Example
Rotate left motor 0, velocity specied by accumulator.
Mnemonic: ROLA 0.
Binary Form of ROLA 0
Field Value
Target address 01
h
Instruction number 32
h
Type 00
h
Motor/Bank 00
h
Value (Byte 3) 00
h
Value (Byte 2) 00
h
Value (Byte 1) 00
h
Value (Byte 0) 00
h
Checksum 33
h
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