Yaskawa MotionWorks+ Windows Software - Manual (Page 180)

Appendix A Operational Examples MotionWorks+™
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Percentage is a floating point number ranging from 0.0000 to 1.0000 through the cam
profile. Point-3.0 subtracts off the first entry, which holds the number of master/slave
pairs, and also the first pair, which is the very first position of the table, which does not
change. For the percentage, only information on the pair of points is necessary. The
reason for /2.0 is that the master and slave data makes the table twice as large. The
reason for (CamData[0]-3) is that the percentage is only for the number of pairs in which
the slave has the sine function applied to it. This is the “total number of cam points” -
“first pair” - “last pair” - “first pair from sine function”. Finally, one important note is
the reason for using 3.0 and 2.0 in the calculation. MotionWorks+™ follows the rules
for “C” syntax. To force the result to be a floating point number, a decimal point value
must be included in the equation. If not, the compiler uses longs for the temporary
registers to generate the answer, and the percentage is always zero.
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