The TA-form of verbs is the conjugation form of verbs that ends with TA or DA. It is for the past or the perfect aspect of verbs. Let me explain how you can change the MASU-form to the TA-form.

This is how to make the command form from the MASU form of verbs. First, for the verbs that end with the vowel "E" in the syllable just before MASU, you change MASU to RO. For example ...