Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Data Sheet
Product codes
11-0011
TMCL Reference Manual
13
Trinamic Motion Control GmbH & Co KG
Sternstraße 67
D – 20357 Hamburg, Germany
http://www.trinamic.com
3.2 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").
Related commands: ROR, MST, SAP, GAP
Mnemonic: ROL <motor number>, <velocity>
Binary representation:
Internal function: First, velocity mode is selected. Then, the velocity value is transferred to axis parameter #0
("target velocity").
Related commands: ROR, MST, SAP, GAP
Mnemonic: ROL <motor number>, <velocity>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
2
(don't care)
<motor number>
<velocity>
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Parameter ranges:
Module
Motor number Velocity
TMCM-300/301/302/303/310
0..2
0..2047
TMCM-100
always 0
0..8191
Example:
Rotate left, motor #1, velocity = 1200
Mnemonic: ROL 1, 1200
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
address
Instruction
Number
Number
Type
Motor/
Bank
Bank
Operand
Byte3
Byte3
Operand
Byte2
Byte2
Operand
Byte1
Byte1
Operand
Byte0
Byte0
Checksum
Value (hex)
$01
$02
$00
$01
$00
$00
$04
$b0
$b8
Note for TMCM-300/301/302/303/310 modules:
Adjust the axis parameter "pulse divisor" (no. 154, see Chapter 5), if the speed value is very low (<50) or above the
upper limit (2047). See TMC 428 datasheet (p.24) for calculation of physical units.
Note for TMCM-100 modules:
Adjust the axis parameter “pre-divider” if the speed is not within the desired range.
Note:
With some modules it is possible to use stall detection. Please see section 6.4 for details.