TMCM-6212 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.07 • 2019-JAN-25
46 / 140
3.6.16
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 position 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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