User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
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3.6 Detailed TMCL Command Descriptions
The module specific commands are explained in more detail on the following pages. They are listed
according to their command number.
3.6.1 ROR (Rotate Right)
The motor is instructed to rotate with a specified velocity in right direction (increasing the position counter).
The velocity is given in microsteps per second (pulse per second [pps]).
Internal function:
• First, velocity mode is selected.
• Then, the velocity value is transferred to axis parameter #2 (target velocity).
Related commands: ROL, MST, SAP, GAP.
Mnemonic: ROR <axis>, <velocity>
Binary Representation
Instruction Type Motor/Bank Value
1 0 0. . . 2 -2147483648. . . 2147583647
Reply in Direct Mode
Status Value
100 - OK don’t care
Example
Rotate right motor 0, velocity 51200.
Mnemonic: ROR 0, 51200.
Binary Form of ROR 0, 51200
Field Value
Target address 01
h
Instruction number 01
h
Type 00
h
Motor/Bank 00
h
Value (Byte 3) 00
h
Value (Byte 2) 00
h
Value (Byte 1) C8
h
Value (Byte 0) 00
h
Checksum CA
h
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