User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
1.2 Detailed TMCL Commands
The module-specific commands are explained in more detail on the following pages. They are
listed according to their command number.
1.2.1 ROR (Rotate Right)
The motor is instructed to rotate with a specified velocity in right direction (increasing
the position counter).
 First, velocity mode is selected.
 Then, the velocity value is transferred to axis parameter #2 ( target velocity ).
Related commands: ROR, MST, SAP, GAP
Mnemonic: ROR 0, <velocity>
NOTE:
 An example for ROR is provided in Table 8.
ROR Request in Direct Mode
COMMAND
TYPE
MOT/BANK
VALUE <velocity>
1
don’t care
0
-200000… +200000
Table: ROR (Rotate Right) Request in Direct Mode
ROR Reply in Direct Mode
STATUS
COMMAND
VALUE
100 – OK
1
don’t care
Table 7: ROR (Rotate Right) Reply in Direct Mode
ROR Example:
Rotate right with velocity = 350: Mnemonic: ROR 0, 350
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
$01
$00
$00
$00
$00
$01
$5e
Table 8: ROR Example: Rotate right with Velocity=350
Process
Description