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) 60<br />
6.7.19 JA (jump always)<br />
Jump to a fixed address in the TMCL program memory. This command is intended for stand-alone<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. This command cannot be used in direct mode.<br />
Internal function: The TMCL program counter is set to the passed value.<br />
Related commands: JC, WAIT, CSUB<br />
Mnemonic: JA <br />
Binary representation:<br />
INSTRUCTION NO. TYPE MOT/BANK VALUE<br />
22 (don't care) (don't care) <br />
Example: An infinite loop in TMCL<br />
Loop: MVP ABS, 0, 10000<br />
WAIT POS, 0, 0<br />
MVP ABS, 0, 0<br />
WAIT POS, 0, 0<br />
JA Loop //Jump to the label “Loop”<br />
Binary format of “JA Loop” assuming that the label “Loop” is at address 20:<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 $16 $00 $00 $00 $00 $00 $14 $2b<br />
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
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