User Manual

TMCM-3351 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26
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3.6.48 RORXA (Rotate Right using the Accumulator Register and X Register)
Rotate in right direction (increasing the position counter) using the velocity specified by the contents of the
accumulator register and the motor specified by the contents of the X 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: ROLXA, MSTX, SAP, GAP.
Mnemonic: RORXA
Binary Representation
Instruction Type Motor/Bank Value
53 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 left motor specified by X register, velocity specified by accumulator.
Mnemonic: RORXA.
Binary Form of RORXA
Field Value
Target address 01
h
Instruction number 35
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 36
h
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