Control Techniques FM-3 Reference Manual page 144

FM-3 Programming Module Reference Manual
Sin
This trig function can be used in formulas from within a program. Example: var.var0 = Sin(var.var1). Returns the
trigonometric sine in degrees. Sin(x) x is in degrees and accurate to 6 decimal places.
Tan
This trig function can be used in formulas from within a program. Example: var.var0 =Tan(var.var1). Returns the
trigonometric tangent in degrees. Tan(x) x is in degrees and accurate to 6 decimal places.
ArcCos
This trig function can be used in formulas from within a program. Example: var.var0 = ArcCos(var.var1). Returns the
trigonometric ArcCos in degrees. The ArcCosine is the angle whose cosine is the given number.
ArcSin
This trig function can be used in formulas from within a program. Example: var.var0 = ArcSin(var.var1). Returns the
trigonometric ArcSin in degrees. The ArcSin is the angle whose Sine is the given number.
ArcTan
This trig function can be used in formulas from within a program. Example: var.var0 = ArcTan(var.var1). Returns the
trigonometric ArcTan in degrees. The ArcTan is the angle whose Tan is the given number.
Modulus
Returns the remainder (Modulus) resulting when a numerator is divided by a denominator. The result has the same sign as
the denominator. The floating-point operators are NOT rounded to integers as would be in the Mod operator.
Example 1: Modulus(5,1.4) Returns 0.8
Example 2: Modulus(5,-1.4) Returns -0.6
Example 3: Modulus(-5,1.4) Returns 0.6
Example 4: Modulus(-5,-1.4) Returns -0.8
The exact mathematical function for the Modulus function is as follows:
Modulus(x,y) = x - (FLOOR (x/y)) * y
Where FLOOR is defined as rounding the argument down to the next whole integer value towards negative infinity.
Example: FLOOR(-3.5715) = -4
The FLOOR function itself is not available to the user within a user program.
Motion Instructions
Dwell For Time
This motion instruction is used to pause program execution for a very precise amount of time. It operates as a motion
instruction – similar to an index, home or jog. Like all other motion instructions it will not start until the preceding motion
instruction has completed. A "Wait for Index.AnyCommandComplete" is not required. Likewise, any subsequent motion
commands will wait and start after the dwell has completed. The total time required to complete a sequence of indexes and
"Dwell For Time" instructions is extremely repeatable.
The "Dwell For Time" instruction is in units of seconds with a resolution of milliseconds (0.000 seconds).
If you want to pause the program while an index is executing you should use a "Wait for Time" instruction described below.
A comment is automatically inserted after the "Dwell For Time" instruction which notes that the dwell time is in units of
seconds. The comment starts with the ' character.
Examples:
Do While (TRUE)
Index.0.Initiate
Dwell For Time 1.000
Loop
Do While (TRUE)
130
'Incremetal,Dist=25.000in,Vel=25in/s
'Seconds