Yaskawa MP900 Series Motion Programming Manual - Manual (Page 201)

A.1 Motion Command List
A - 5
Classification Function/Meaning Programming Format Name Command
Sequence
Commands | OR (logical OR) MB− = MB− | MB−;
MB− = MB− | 1;
MW− = MW− | MW−;
MW− = MW− | H00FF; Performs bit/integer logical OR.
^ XOR (logical exclu-
sive OR) MW− = MW− ^ MW−;
MW− = MW− ^ H00FF; Performs integer logical exclusive OR.
& AND (logical AND) MB− = MB− & MB−;
MB− = MB− & 1;
MW− = MW− & MW−;
MW− = MW− & H00FF; Performs bit/integer logical AND.
! NOT (logical com-
plement) MB− = !MB−;
MB− = !1;
MW− = !MW−;
MW− = !H00FF; Performs bit/integer logical complement
(inverts bits).
( ) PARENTHESES MW− = MW− & (MW− |
MW−); The logical arithmetic expression inside
parentheses is calculated first.
S{ } SET BIT S{MB−} = MB− & MB−; If the logical operation result is “true,” the
designated bit turns ON. The designated
bit does not turn OFF, even if the logical
operation result is “false.”
R{ } RESET BIT R{MB−} = MB− & MB−; If the logical operation result is “true,” the
designated bit turns OFF. The designated
bit does not turn ON, even if the logical
operation result is “false.”
SIN SINE SIN (MW−);
SIN (90); Obtains the sine of the integer or real
number (deg), and returns a real value.
COS COSINE COS (MW−);
COS (90); Obtains the cosine of the integer or real
number (deg), and returns a real value.
TAN TANGENT TAN (MF−);
TAN (45.0); Obtains the tangent of the real number
(deg), and returns a real value.
ASN ARC SINE ASN (MF−);
ASN (45.0); Obtains the arc sine of the real number
(deg), and returns a real value.
ACS ARC COSINE ACS (MF−);
ACS (90.0); Obtains the arc cosine of the real number
(deg), and returns a real value.
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