Table Gateways select query

I need your help,i’d like to know how to create a select query using from clause, where condition and order by in zend framework?
for example if i want to translate this sql query “select cmd_id,cmd,article,date_cmd,qte from commands join line_commands using(cmd_id) where qte>5 order by date_cmd”; how can i do? i’m using zend framework 3, postgresql .
help me please!

Please refer to the documentation. For example, see

Marco Pivetta