Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 331)

Appendices
A.9 Basic Functions
A-10
A.9 Basic Functions
Com-
mand
Name Programming Format Description
Mo
tion Programs
Seq
uen
ce
Prog
rams
SIN Sine
SIN (MW − );
SIN (90) ;
Obtains the sine of integer or real number data.
The specifications differ depending on the data
type: Integer or real number.
COS Cosine
COS (MW − );
COS (90) ;
Obtains the cosine of integer or real number data.
The specifications differ depending on the data
type: Integer or real number.
TAN Tangent
TAN (MF − );
TAN (45.0) ;
Obtains the tangent of real number data.
Only a real number type register can be designated.
ASN Arc Sine
ASN (MF − );
ASN (90.0) ;
Obtains the arc sine of the real number data.
Only a real number type register can be designated.
ACS Arc Cosine
ACS (MF − );
ACS (90.0) ;
Obtains the arc cosine of real number data.
Only a real number type register can be designated.
ATN Arc Tangent
ATN (MW − );
ATN (45) ;
Obtains the arc tangent of integer or real number
data.
The specifications differ depending on the data
type: Integer or real number.
SQT Square Root
SQT (MW − );
SQT (100) ;
Obtains the root of integer or real number data.
The specifications differ depending on the data
type: Integer or real number.
BIN
BCD-to-
Binary
BIN (MW − ); Converts BCD data to binary data.
BCD
Binary-to-
BCD
BCD (MW − ); Converts binary data to BCD data.
S { } Set Bit S {MB − } = MB − & MB − ;
If the logical operation result is true, the desig-
nated 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 desig-
nated bit turns OFF. The designated bit does not
turn ON even if the logical operation result is
false.
PON Rising Pulse
MB − = PON (MB − MB − );
or
IF PON (MB
− MB − ) == 1;
;
IEND;
The bit output turns ON for one scan when the bit
input status changes from OFF to ON.
−
NON Falling Pulse
MB − = NON (MB − MB − );
or
IF NON (MB
− MB − ) == 1;
;
IEND;
The bit output turns ON for one scan when the bit
input status changes from ON to OFF.
−
TON
ON-Delay
Timer
MB − = MB − & TON ( − MB − );
Counts the period of time when the bit input is
ON.
The bit output turns ON when the counted value is
equal to the set value.
Counting unit: 10 ms.
−
TOF
OFF-Delay
Timer
MB − = MB − & TOF ( − MB − );
Counts the period of time when the bit input is
OFF.
The bit output turns OFF when the counted value
is equal to the set value.
Counting unit: 10 ms.
−