Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 248)

8.9 Basic Functions
8-141
8
Command Reference
8.9.5 Arc Cosine (ACS)
(1) Overview
The ACS command uses the specified variable or constant as input and returns the arc cosine (unit = degrees) in
a real number register.
(2) Format
* Example: Calculates the arc cosine of the input value (0.5): ACS (0.5) = 60.0 degrees.
The ACS command can use only real number data. If bits, integers, or double integers are specified, an error
will result at compilation.
(3) Programming Examples
ACS command programming examples are shown below.
Motion Programs Sequence Programs
Applicable Applicable
MF00100 = ACS (0.5);
A B
Item Description Unit Usable Registers
A
Angle
output
Degree
( °) ∗
• All real number type registers (Excluding # and C registers)
• The above registers with subscript
• Subscript registers
B
Cosine
value
input
−
• All real number type registers (Excluding # and C registers)
• The above registers with subscript
• Subscript registers
• Constants
MF00100 = ACS ( MF00102 ) ;
(60.0) (0.5)
IMPORTANT
Type
Motion Programs/
Sequence Programs
Ladder Programs
B − −
W − −
L − −
F DF00202=ACS(DF00200);
EXAMPLE