User manual

TMCM-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 43
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3.6.19 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
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$16
$00
$00
$00
$00
$00
$14