Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 243)

8 Command Reference
8.9.1 Sine (SIN)
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8.9 Basic Functions
This section describes the basic function commands, including trigonometric functions, square roots, binary data
conversion, and BCD data conversion.
8.9.1 Sine (SIN)
(1) Overview
The Sine command (SIN) returns the sine of integer or real number data as the operation result. Double integer
data cannot be used.
(2) Format
* The input units and output results are different for integer and real number data.
• Integer Data
Integer data can be used within a range of -327.68 to 327.67 degrees. The immediately preceding opera-
tion result (integer data) is used as the input, and the operation result is returned in an integer register
(input unit1 = 0.01 degrees). The operation result is multiplied by 10000 before being output.
• Real Number Data
The command will uses the immediately preceding operation result (real number data) as input, and
return the sine in a real number register (unit = degrees).
If integer data is input outside the range of -327.68 to 327.67 degrees, a correct result cannot be obtained.
Motion Programs Sequence Programs
Applicable Applicable
MW00100 = SIN (3000);
A B
Item Description Unit Usable Registers
A
Sine value
output
−
• All integer and real number type registers (Excluding # and C registers)
• The above registers with subscript
• Subscript registers
B Angle input
Degree
( °) ∗
• All integer and real number type registers (Excluding # and C registers)
• The above registers with subscript
• Subscript registers
• Constants
Example:
Integer Data Real Number Data
MW00102 = SIN ( MW00100 ) ;
Equivalent
0.5=SIN30°
(05000) (03000)
=> MF00102 = SIN ( MF00100 ) ;
(0.5) (30.0)
IMPORTANT