Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 249)

8 Command Reference
8.9.6 Arc Tangent (ATN)
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8.9.6 Arc Tangent (ATN)
(1) Overview
The ATN command returns the arc tangent 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 unit 1 = 0.01 degrees). The operation result is multiplied by 100 before being output.
• Real Number Data
The command uses the immediately preceding operation result (real number data) as input, and returns
the arc tangent in a real number register.
(3) Programming Examples
ATN command programming examples are shown below.
Motion Programs Sequence Programs
Applicable Applicable
MW00100 = ATN (100);
A B
Item Description Unit Usable Registers
A
Angle
output
Degree
( °) ∗
• All integer and real number type registers (Excluding # and C registers)
• The above registers with subscript
• Subscript registers
B
Tangent
value
input
−
• 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
MW00100 = ATN ( MW00102 ) ;
Equivalent
45=ATN(1.0)
(04500) (00100)
=>
MF00100 = ATN ( MF00102 ) ;
(45.0) (1.0)
EXAMPLE
Type
Motion Programs/
Sequence Programs
Ladder Programs
B − −
W MW00102=ATN(MW00100);
L − −
F DF00202=ATN(DF00200);