SD20-G Series
239
Syntax Expression
Running Result
Annotations
RORWR R1 D1
R1=R1>>1
The content of R1 register shift right 1 bit;
RORWP P1 D1
Po001=Po001>>1
The content of P1 register shift right 1 bit;
Table 8.1.26 32-bit Rotate Rghit Shift
Syntax Expression
Running Result
Annotations
RORDR R1 D1
R1=R1>>1
The content of R1 register shift right 1 bit;
RORDP P1 D1
Po001=Po001>>1
The content of P1 register shift right 1 bit;
6.8.3.4 Program Control Instruction
Program Control Instruction includes outputinstruction, jump instruction, stack instruction and other
program control instruction, see details as below:
(1)
Stack Instruction
Table 8.1.27 Stack Instruction
Syntax Expression
Annotations
MPS
Push current instruction into stack
MRD
Read logic status
MPP
Popup stack logic status
【
Note
】
The max depth of stack is level 8;
(2)
Jump Instruction
Table 8.1.28 Jump Instruction
Syntax Expression
Running Result
Annotations
JUMP R11
Jump to R11 memory address
Jump to specified address
Execute the instruction and refresh control signal of low-speed timer, if current main loop has not
finished executing instructions yet, it will skip the rest instructions and wait for the next main loop
execution. Jump instruction must be executed in the ending of program, or the program will stop running.
(3)
End instruction
Syntax Expression
Running Result
Annotations
END
Jump to 0 address
Jump to 0 address
Execute the instruction and refresh control signal of low-speed timer, if current main loop has not
finished executing instructions yet, it will skip the rest instructions and wait for the next main loop
execution. End instruction must be executed in the ending of program, or the program will stop running.
There are 13 other program control instructions, see details as below:
(1)
Rising Edge Instruction
Instruction Format: [PLS X Y]
Instruction Description:
PLS is instruction code, X stores the register address of last cyclic state, detect the rising edge of Y
register address; When detecting the rising edge of Y register address, Y register=1 in this cycle, and X
register saves last cyclic state.
Summary of Contents for SD20-G Series
Page 35: ...SD20 G Series 35 M3 structure Fig 3 1 5 Servo drive structure 3...
Page 36: ...SD20 G Series 36 ML3 structure 118 5 5 7 5 93 297 8 223 118 93 0 5 12 5 7 5 4 M4...
Page 38: ...SD20 G Series 38 M4 structure Approx mass 10 365 kg Fig 3 1 7 Servo drive structure 5...
Page 39: ...SD20 G Series 39 M5 structure Approx msaa 11 1Kg Fig 3 1 8 Servo drive structure 6...
Page 40: ...SD20 G Series 40 M6 structure Approx mass 17 4Kg Fig 3 1 9 Servo drive structure 7...
Page 182: ...SD20 G Series 182 Fig 6 4 44SD20E Cam internal frameworkdiagram...
