Delta DVP-ES2 User Manual
Page 528
D V P - E S 2 / E X 2 / S S 2 / S A2 / S X 2 O p e r a t i o n M a n u a l - P r o g r a m m i n g
3 - 4 1 2
API Mnemonic
Operands
Function
184
MINV P
Matrix inverse
Controllers
ES2/EX2 SS2 SA2
SE
SX2
Bit Devices
Word devices
Program Steps
Type
OP
X Y M S
K H
KnX
KnY KnM KnS T C D E F
S
*
*
*
*
*
*
*
D
*
*
*
*
*
*
n
*
*
*
MINV, MINVP: 7 steps
PULSE 16-bit 32-bit
ES2/EX2 SS2
SA2
SE
SX2 ES2/EX2 SS2
SA2
SE
SX2 ES2/EX2 SS2
SA2
SE
SX2
Operands:
S: Matrix source device D: Operation result n: Matrix length (K1~K256)
Explanations:
1.
MINV instruction performs inverse operation on matrix source device S with matrix length n
and stores the result in D.
2. If
operands S
,
D use KnX, KnY, KnM, KnS format, only n = 4 is applicable.
Program Example:
When X0 = ON, MINV performs inverse operation on 16-bit registers D0~D2. The operation result
is then stored in 16-bit registers D20~D22
X0
MINV
D0
D20
K3
Before
Execution
After
Execution
0
0
0
1
1
1
1
1
1
0
0
0
0
0
0
1
1
1
1
1
1
0
0
0
1
1
1
0
0
0
1
1
1
0
0
0
1
1
1
0
0
0
1
1
1
0
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
b15
b0
MINV
D0
D1
D2
D20
D21
D22