SD20-G Series
237
XOR B0
^
（
B0
）
B0 register address executes “xor” instruction with last
instruction;
XORI B1
^
（！
B1
）
Reversing the content of B1 register address, then executes“xor”
instruction with last instruction;
(5)
Logical Inversion Instruction
Instruction Format: [INV X]
Instruction Description:
INV is logic instruction;X means register address; Reversing the content of X register address;
Syntax Expression
Running Result
Annotations
INV B0
!B0
Reversing the content of B0 register address;
(6)
Shift Instruction
Shift instruction can be divided into left shift and right shift, can also be divided into signed number and
unsigned number based on data type, see details as tables below:
Table 8.1.15 16-bit Unsigned Left Shift
Syntax Expression
Running Result
Annotations
SHLWR R1 D1
R1=R1<<1
The content of R1 register shift left one bit
SHLWR P1 D1
Po001=Po001<<1
The content of P1 register shift left one bit
Table 8.1.16 16-bit Unsigned Right Shift
Syntax Expression
Running Result
Annotations
SHRWR R1 D1
R1=R1>>1
The content of R1 register shift right one bit
SHRWP P1 D1
Po001=Po001>>1
The content of P1 register shift right one bit
Table 8.1.17 32-bit Unsigned Left Shift
Syntax Expression
Running Result
Annotations
SHLDR R1 D1
R2 R1=R2 R1<<1
The content of R1 register shift left one bit, of
which high-bit stores to R2 register, low-bit
stores to R1 register;
SHLDP P1 D1
Po002 Po001= Po002 Po001<<1
The content of P1 register shift left one bit , of
which high-bit stores to P2 register, low-bit
stores to P1 register;
Table 8.1.18 32-bit Unsigned Right Shift
Syntax Expression
Running Result
Annotations
SHRDR R1 D1
R2 R1=R2 R1>>1
The content of R1 register shift right one bit, of
which high-bit stores to R2 register, low-bit stores
to R1 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...
