SD20-G Series
234
See details as table below:
Syntax Expression
Annotations
QDIVRR D7 R1 R3 R5
The value saved in R2/R1 divided by the value of R4/R3, get Q7 scaling
result, and save the result into R6/R5;
QDIVDR D7 L1 R3 R5
Immediate operand divided by the value of R4/R3, get Q7 scaling result, and
save the result into R6/R5;
QDIVPR D7 P1 R3 R5
The value saved in P2/P1 divided by the value of R4/R3, get Q7 scaling
result, and save the result into R6/R5;
QDIVRP D7 R1 P3 R5
The value saved in R2/R1 divided by the value of P4/P3, get Q7 scaling
result, and save the result into R6/R5;
QDIVDP D7 L1 P3 R5
Immediate operand divided by the value of R4/R3, get Q7 scaling result, and
save the result into R6/R5;
QDIVPP D7 P1 P3 R5
The value saved in P2/P1 divided by the value of R4/R3, get Q7 scaling
result, and save the result into R6/R5;
b) Scaling Multiplication
Instruction Format: [QMUL□□ D X D Y D Z]
Instruction Description:
QMUL is instruction code, □□ is instruction execution register address, D is
result-scaling value, X is multiplier, Y is multiplicand, Z is store result area;
User can operate for R area, P area and immediate operand; See details as table below:
Syntax Expression
Annotations
QMULRR D14 R1 D10 R3
D2 R5
Multiplying Q10 scaling value saved in R2/R1 and Q2 scaling value
saved in R4/R3, get Q14 scaling value, and save the result into the
address of R6/R5.
QMULDR D14 L1 D10 R3
D2 R5
Multiplying Q10 scaling value of immediate operand and Q2 scaling
value saved in R4/R3, get Q14 scaling value, and save the result into the
address of R6/R5.
QMULPR D14 P1 D10 R3
D2 R5
Multiplying Q10 scaling value saved in P2/P1 and Q2 scaling value
saved in R4/R3, get Q14 scaling value, and save the result into the
address of R6/R5.
QMULRP D14 R1 D10 P3
D2 R5
Multiplying Q10 scaling value saved in R2/R1 and Q2 scaling value
saved in R4/R3, get Q14 scaling value, and save the result into the
address of R6/R5.
QMULDP D14 L1 D10 P3
D2 R5
Multiplying Q10 scaling value of immediate operand and Q2 scaling
value saved in P4/P3, get Q14 scaling value, and save the result into the
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...
