User Manual

TMCM-3230 TMCL
™
Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10
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3.6.2 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 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: ROR, MST, SAP, GAP.
Mnemonic: ROL <axis>, <velocity>
Binary Representation
Instruction Type Motor/Bank Value
2 0 0. . . 2 -2147483648. . . 2147583647
Reply in Direct Mode
Status Value
100 - OK don’t care
Example
Rotate left motor 0, velocity 51200.
Mnemonic: ROL 0, 51200.
Binary Form of ROL 0, 51200
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) C8
h
Value (Byte 0) 00
h
Checksum CB
h
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