User Manual

PD42-1240 TMCL
™
Firmware Manual • Firmware Version V1.45 | Document Revision V1.02 • 2018-DEC-03
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3.6.45 RORA (Rotate Right using the Accumulator Register)
Rotate in right direction (increasing the position counter) using the velocity specified 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: ROLA, MST, SAP, GAP.
Mnemonic: ROLA <axis>
Binary Representation
Instruction Type Motor/Bank Value
51 0 (don’t care) 0 (don’t care) 0 (don’t care)
Reply in Direct Mode
Status Value
100 - OK don’t care
Example
Rotate right motor 0, velocity specified by accumulator.
Mnemonic: RORA 0.
Binary Form of RORA 0
Field Value
Target address 01
h
Instruction number 33
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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