User Manual

PD42-1240 TMCL
™
Firmware Manual • Firmware Version V1.45 | Document Revision V1.02 • 2018-DEC-03
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3.6.40 RST (Restart)
Stop the program, reset the TMCL interpreter and then re-start the program at the given label. This com-
mand can be used to re-start the TMCL program from anywhere in the program, also out of subroutines or
interrupt rotuines. This command is intended for standalone operation only.
Internal function: The TMCL interpreter is reset (the subroutine stack, the interrupt stack and the regis-
ters are cleared) and then the program counter is set to the value passed to this command.
Related commands: JA, CSUB, STOP.
Mnemonic: RST <label>
Binary Representation
Instruction Type Motor/Bank Value
48 0 (don’t care) 0 (don’t care) <restart address>
Example
Restart the program from a label, out of a subroutine:
1 Entry:
MVP ABS , 0, 51200
3 CSUB Subroutine
...
5 ...
Subroutine :
7 RST Entry
RSUB
Binary form of the RST Entry command when the label Entry is at address 10:
Binary Form of RST Entry (as-
suming Entry at address 10)
Field Value
Target address 01
h
Instruction number 30
h
Type 00
h
Motor/Bank 00
h
Value (Byte 3) 00
h
Value (Byte 2) 00
h
Value (Byte 1) 00
h
Value (Byte 0) 0A
h
Checksum 3A
h
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