User Manual

PD42-1141 TMCL
™
Firmware Manual • Firmware Version V1.42 | Document Revision V1.06 • 2018-JAN-09
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3.7.2 ROL (Rotate Left)
The motor is instructed to rotate with a specified velocity in left direction (decreasing the position counter).
The velocity is given in internal units ([int]) of the TMC429 motion controller used on the PD42-1141 module.
Please see also section 6.1.
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 <axis>, <velocity>
Binary Representation
Instruction Type Motor/Bank Value
2 0 0 -2047. . . 2047
Reply in Direct Mode
Status Value
100 - OK don’t care
Example
Rotate left motor 0, velocity 1000.
Mnemonic: ROL 0, 1000.
Binary Form of ROL 0, 1000
Field Value
Target address 01
h
Instruction number 02
h
Type 00
h
Motor/Bank 00
h
Value (Byte 3) 00
h
Value (Byte 2) 00
h
Value (Byte 1) 03
h
Value (Byte 0) E8
h
Checksum EE
h
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