User Manual

PD-x-1670 TMCL

™

Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Oct-29

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3.6.17 JC (Jump conditional)

The JC instruction enables a conditional jump to a ﬁxed address in the TMCL program memory, if the

speciﬁed condition is met. The conditions refer to the result of a preceding comparison. Please refer to

COMP instruction for examples. This command is intended for standalone operation only.

Internal function:

The TMCL program counter is set to the value passed to this command if the status

ﬂags are in the appropriate states.

Related commands: JA, COMP, WAIT, CLE.

Mnemonic: JC <condition>, <label>

Binary Representation

Instruction Type Motor/Bank Value

21 0 ZE - zero 0 (don’t care) <jump address>

1 NZ - not zero

2 EQ - equal

3 NE - not equal

4 GT - greater

5 GE - greater/equal

6 LT - lower

7 LE - lower/equal

8 ETO - time out error

9 EAL - external alarm

10 EDV - deviation error

11 EPO - position error

Example

Jump to the address given by the label when the position of motor #0 is greater than or equal to 1000.

1 GAP 1, 0 // get actual pos ition of motor 0

COMP 1000 // compare actual value with 1000

3 JC GE , Label // jump to Lable if greter or equal to 1000

...

5 Label : ROL 0, 1000

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