TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual
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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.1 TMCL Motion Control Commands
3.1.1 ROR - Rotate Right
Description:
This instruction starts rotation in "right" direction, i.e. increasing the position counter.
Internal function:
First, velocity mode is selected. Then, the velocity value is transferred to axis
parameter #0 ("target velocity").
Mnemonic:
ROR <motor number>, <velocity>
Value Range:
±100.000, actual usable value depends on motor
Related commands:
ROL, MST, SAP, GAP
Binary representation:
INSTRUCTION NO.
TYPE MOT/BANK
VALUE
1
(don't care)
<motor number>
<velocity>
Example:
Rotate right, motor #0, velocity = 350
Mnemonic:
ROR 0, 350
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01 $01 $00
$00
$00 $00 $01 $5e $61
