TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
TMCL™ Firmware Manual - Trinamic
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PD-109-57 V2 TMCL <strong>Firmware</strong> <strong>Manual</strong> (V1.00/2010-FEB-18) 58<br />
6.7.17 COMP (compare)<br />
The specified number is compared to the value in the accumulator register. The result of the comparison can<br />
for example be used by the conditional jump (JC) instruction. This command is intended for use in standalone<br />
operation only.<br />
The host address and the reply are only used to take the instruction to the TMCL program memory<br />
while the TMCL program loads down. It does not make sense to use this command in direct mode.<br />
Internal function: The specified value is compared to the internal accumulator, which holds the value of a<br />
preceding get or calculate instruction (see GAP/GGP/GIO/CALC/CALCX). The internal arithmetic status flags are<br />
set according to the comparison result.<br />
Related commands: JC (jump conditional), GAP, GGP, GIO, CALC, CALCX<br />
Mnemonic: COMP <br />
Binary representation:<br />
INSTRUCTION NO. TYPE MOT/BANK VALUE<br />
20 (don't care) (don't care) <br />
Example:<br />
Jump to the address given by the label when the position of motor #2 is greater than or equal to<br />
1000.<br />
GAP 1, 2, 0 //get axis parameter, type: no. 1 (actual position), motor: 2, value: 0 (don't care)<br />
COMP 1000 //compare actual value to 1000<br />
JC GE, Label //jump, type: 5 greater/equal, the label must be defined somewhere else in the<br />
program<br />
Binary format of the COMP 1000 command:<br />
Byte Index 0 1 2 3 4 5 6 7 8<br />
Function Target- Instruction Type Motor/ Operand Operand Operand Operand Checksum<br />
address Number<br />
Bank Byte3 Byte2 Byte1 Byte0<br />
Value (hex) $01 $14 $00 $00 $00 $00 $03 $e8 $00<br />
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG