Trinamic 11-0011 TMCM-171 BLDC Output For 3-phase BLDC Motors 11-0011 Hoja De Datos
Los códigos de productos
11-0011
TMCL Reference Manual
31
Trinamic Motion Control GmbH & Co KG
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D – 20357 Hamburg, Germany
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3.17 COMP – Compare
Description: The specified number is compared to the value in the accumulator register. The result of the
comparison can for example be used by the conditional jump (JC) instruction. This command is intend for use in
stand-alone operation only and must not be used indirect mode.
Internal function: The specified value is compared to the internal "accumulator", which holds the value of a
preceding "get" or calculate instruction (see GAP/GGP/GIO/CALC/CALCX). The internal arithmetic status flags are set
according to the comparison result.
Related commands: JC (jump conditional), GAP, GGP,GIO, CALC, CALCX
Binary representation:
comparison can for example be used by the conditional jump (JC) instruction. This command is intend for use in
stand-alone operation only and must not be used indirect mode.
Internal function: The specified value is compared to the internal "accumulator", which holds the value of a
preceding "get" or calculate instruction (see GAP/GGP/GIO/CALC/CALCX). The internal arithmetic status flags are set
according to the comparison result.
Related commands: JC (jump conditional), GAP, GGP,GIO, CALC, CALCX
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
20
(don't care)
(don't care)
<comparison value>
Example:
Jump to the address given by the label when the position of motor #2 is greater than or equal to 1000.
GAP 1, 2, 0
//get axis parameter, type: no. 1 (actual position), motor: 2, value:0 (don't care)
COMP 1000
//compare actual value to 1000
JC GE, Label
//jump, type: 5 greater/equal, the label must be defined somewhere else in the program
Binary format of the COMP 1000 command:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
address
Instruction
Number
Number
Type
Motor/
Bank
Bank
Operand
Byte3
Byte3
Operand
Byte2
Byte2
Operand
Byte1
Byte1
Operand
Byte0
Byte0
Checksum
Value (hex)
$01
$14
$00
$00
$00
$00
$03
$e8
$00
Note that the host address and the reply is only used to transfer this instruction to the TMCL program memory
during downloading of a TMCL program. It does not make sense to use this command in direct mode.