SD20-G Series
229
Instruction Format:[SUBW□□ X Y Z]
Instruction Description:
SUBW is subtraction instruction,
□□
isinstruction execution register area; X is subtrahend; Y is minuend,
Z is store result area; The result of instruction execution is Z=X-Y, which means that the value of register
address in X area is subtracted to the value of register address in Y area, the result sends to Z register
address; User can operate for R area, P area and immediate operand; See details as table 8.1.5.
Table 8.1.5 16-bit Sub Instruction Syntax, Results and related Annotations
Syntax Expression
Running Results
Annotations
SUBWRR R1 R2 R3
R3=R1-R2
The value of two registers in R area are subtracted, the result
sends to no.3 register in R area;
SUBWDR D1 R2 R3
R3= D1-R2
Immediate operand subtracted to the value of R register, the
result sends to no.3 register in R area;
SUBWPR P1 R2 R3
R3=R2-P1
The value of register in P area subtracted to the value of
register in R area, the result sends to no.3 register in R area;
SUBWDP D1 P2 R3
R3=D1-P2
Immediate operand subtracted to the value of P register, the
result sends to no.3 register in R area;
SUBWRP R1 P2 R3
R3=R1-P2
The value of R register subtracted to the value of P register,
the result sends to no.3 register in R area;
SUBWPP P1 P2 P3
R3=P1-P2
The values of two registers in P area are subtracted, the
result sends to no.3 register in R area;
b)
32-bit subtraction:
Instruction Format:[SUBD□□ X Y Z]
Instruction Description:
SUBDis subtraction instruction,
□□
isinstruction execution register area; X is
subtrahend; Y is minuend, Z is store result area; The result of instruction execution is Z=X-Y, which
means that the value of register address in X area is subtracted to the value of register address in Y area,
the result sends to Z register address; User can operate for R area, P area and immediate operand; See
details as table 8.1.6.
Table 8.1.6 32-bit Sub Instruction Syntax, Results and related Annotations
Syntax Expression
Running Results
Annotations
SUBDRR R1 R2 R3
R3=R1-R2
The values of two registers in R area are subtracted, the result
sends to no.3 register in R area;
SUBDDR D1 R2 R3
R3= D1-R2
Immediate operand subtracted to the value of R register, the
result sends to no.3 register in R area;
SUBDPR P1 R2 R3
R3=R2-P1
The value of register in P area subtracted to the value of
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...
