TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual
11
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.1.2 ROL - Rotate Left
Description:
This instruction starts rotation in "left" direction, i.e. decreasing the position counter.
Internal function:
First, velocity mode is selected. Then, the velocity value is transferred to axis
parameter #0 ("target velocity").
Mnemonic:
ROL <motor number>, <velocity>
Value Range:
±100.000, actual usable value depends on motor
Related commands:
ROR, MST, SAP, GAP
Binary representation:
INSTRUCTION NO.
TYPE MOT/BANK
VALUE
2
(don't care)
<motor number>
<velocity>
Example:
Rotate left, motor #0, velocity = 1200
Mnemonic:
ROL 0, 1200
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 $02 $00
$00
$00 $00 $04 $b0 $b7
