User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
1.2.2 ROL (Rotate Left)
The motor is instructed to rotate with a specified velocity (opposite direction compared
to ROR, decreasing 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: ROL 0, <velocity>
NOTE:
 An example for ROL is provided in Table 11.
ROL Request in Direct Mode
COMMAND
TYPE
MOT/BANK
VALUE <velocity>
2
don’t care
0
-200000… +200000
Table 9: ROL (Rotate Left) Request in Direct Mode
ROL Reply in Direct Mode
STATUS
COMMAND
VALUE
100 – OK
2
don’t care
Table 10: ROL (Rotate Left) Reply in Direct Mode
ROL Example:
Request: Rotate left with Velocity = 1200: Mnemonic: ROL 0, 1200
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
$02
$00
$00
$00
$00
$04
$b0
Table 11: ROL Example: Rotate left with Velocity=1200
Process
Description