User manual

TMCM-1180 and PD86-1180 TMCL Firmware V4.42 Manual (Rev. 1.08 / 2012-NOV-20) 62
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5.7.19 JA (jump always)
Jump to a fixed address in the TMCL™ program memory. This command is intended for standalone operation
only.
The host address and the reply are only used to take the instruction to the TMCL™ program memory
while the program loads down. This command cannot be used in direct mode.
Internal function: the TMCL™ program counter is set to the passed value.
Related commands: JC, WAIT, CSUB
Mnemonic: JA <Label>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
22
(don't care)
(don't care)
<jump address>
Example: An infinite loop in TMCL™
Loop: MVP ABS, 0, 10000
WAIT POS, 0, 0
MVP ABS, 0, 0
WAIT POS, 0, 0
JA Loop //Jump to the label Loop
Binary format of JA Loop assuming that the label Loop is at address 20:
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
$16
$00
$00
$00
$00
$00
$14
$2b