TMCM-1310 TMCL Firmware V1.11 Manual (Rev. 1.16 / 2014-MAR-19)
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6.8.18
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 function is for standalone operation only.
Internal function:
the TMCL program counter is set to the passed value if the arithmetic status flags are in
the appropriate state(s).
Related commands:
JA, COMP, WAIT, CLE
Mnemonic:
JC <condition>, <label>
Binary representation:
INSTRUCTION NO.
TYPE <condition>
MOT/BANK
VALUE
21
0 ZE - zero
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
don’t care
<jump address>
Example:
Jump to address given by the label when the position of motor is greater than or equal to 1000.
GAP 1, 0, 0
//get axis parameter, type: no. 1 (actual position), motor: 0, value: 0 don’t care
COMP 1000
//compare actual value to 1000
JC GE, Label
//jump, type: 5 greater/equal
...
...
Label: ROL 0, 1000
Binary format of JC GE, Label when Label is at address 10:
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
$15
$05
$00
$00
$00
$00
$0a
