SD20-G Series
228
ADDWDR D1 R2 R3
R3=R2+D1
Immediate operand added to the value of R register, the result
sends to no.3 registerin R area;
ADDWPR P1 R2 R3
R3=R2+P1
The value of register in P area added to the value of register in
R area, the result sends to no.3 register in R area;
ADDWDP D1 P2 R3
R3=D1+P2
Immediate operand added to the value of P register, the result
sends to no.3 register in R area;
ADDWRP R1 P2 R3
R3=R1+P2
The value of register in R area added to the value of register in
P area, the result sends to no.3 register in R area;
ADDWPP P1 P2 P3
R3=P1+P2
Two register contents in P area are added, the result sends to
no.3 register in R area;
b)
32-bit addition:
Instruction Format: [ADDD□□ X Y Z]
Instruction Description:
ADDD is addition instruction,
□□
isinstruction execution register area; X is addend; Y is augend; Z
stores results; The result of instruction execution is Z=X+Y, which means the value of register in X area
added to the value of register of Y area, the result sends to Z register address. User can operate for R area,
P area and immediate operand; See details as table 8.1.4
Table 8.1.4 32-bitAdd Instruction Syntax, Results and related Annotations
Syntax Expression
Running Results
Annotations
ADDDRR R1 R2 R3
R3=R1+R2
Two register contents in R area are added, the result sends to
no.3 register in R area;
ADDDDR D1 R2 R3
R3=R2+D1
Immediate operand added to the value of R register, the result
sends to no.3 registerin R area;
ADDDPR P1 R2 R3
R3=R2+P1
The value of register in P area added to the value of register in
R area, the result sends to no.3 register in R area;
ADDDDP D1 P2 R3
R3=D1+P2
Immediate operand added to the value of P register, the result
sends to no.3 register in R area;
ADDDRP R1 P2 R3
R3=R1+P2
The value of register in R area added to the value of register in
P area, the result sends to no.3 register in R area;
ADDDPP P1 P2 P3
R3=P1+P2
Two values of register in P area are added, the result sends to
no.3 register in R area;
(2)
Subtraction Instruction
There are 12 sub instructions, which are 16-bit subtraction and 32-bit subtraction, see details as below:
a)
16-bit subtraction:
Содержание SD20-G Series
Страница 35: ...SD20 G Series 35 M3 structure Fig 3 1 5 Servo drive structure 3...
Страница 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...
Страница 38: ...SD20 G Series 38 M4 structure Approx mass 10 365 kg Fig 3 1 7 Servo drive structure 5...
Страница 39: ...SD20 G Series 39 M5 structure Approx msaa 11 1Kg Fig 3 1 8 Servo drive structure 6...
Страница 40: ...SD20 G Series 40 M6 structure Approx mass 17 4Kg Fig 3 1 9 Servo drive structure 7...
Страница 182: ...SD20 G Series 182 Fig 6 4 44SD20E Cam internal frameworkdiagram...
