SD20-G Series
231
MULWRP R1 P2 R3
R4 R3=R1*Po002
Multiplying the values of R register and P register, get the
32-bit result, storing to no.3 and no.4 registers in R area
respectively, of which no.4 stores high 16-bit, no.3 stores
low 16-bit.
MULWPP P1 P2 R3
R4
R3=Po001*Po002
Multiplying the value of 2 registers in P area, get the 32-bit
result, storing to no.3 and no.4 registers in R area
respectively, of which no.4 stores high 16-bit, no.3 stores
low 16-bit.
b)
32-bit Multiplication
Instruction Format: [MULD□□ X Y Z]
Instruction Description:
MULD is multiplying instruction, □□is instruction execution register area; X is
multiplier, Y is multiplicand, 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 multiplied 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 8.1.8.
Table 8.1.8 32-bit Multiplying Instruction Syntax, Results and related Annotations
Syntax Expression
Running Results
Annotations
MULDRR R1 R2 R3
R6 R5 R4 R3=R2 R1*R3
R2
Multiplying the value of 2 registers in R area, get the
32-bit result, storing to no.3~no.6 registers in R area,
of which no.6 and no.5 store to high 32-bit, no.4 and
no.3 store to low 32-bit;
MULDDR L1 R2 R3
R6 R5 R4 R3=1*R3*R2
Multiplying immediate operand and R register, get
the 32-bit result, storing to no.3 and no.6 register in
R area respectively, of which no.6 and no.5 store to
high 32-bit, no.4 and no.3 store to low 32-bit;
MULDPR P1 R2 R3
R6 R5 R4 R3=Po002
Po001*R3 R2
Multiplying P register and R register, get the 32-bit
result, storing to no.3~no.6 registers in R area
respectively, of which no.6 and no.5 store to high
32-bit, no.4 and no.3 store to low 32-bit;
MULDDP L1 P2 R3
R6 R5 R4 R3=1*Po002
Po001
Multiplying immediate operand and P register, get
the 32-bit result, storing to no.3 and no.4 registers in
R area respectively, of which no.6 and no.5 store to
high 32-bit, no.4 and no.3 store to low 32-bit;
MULDRP R1 P2 R3
R6 R5 R4 R3=R1*Po002
Multiplying the values of R register and P register,
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...
