Program Math Functions - Control Techniques Epsilon EP-P Reference Manual

Jog.Stop
Endif
Example:
Wait For (MasterAxis.PosnFeedback > 1000.00)
DriveOutput.1 = ON
Wait For (VelFeedback > 50.00)
DriveOutput.2 = ON
Wait For Control Loop
This program instruction is used to halt the program execution until the next control loop. The control loop processes the input
and output events. So the "Wait For Control Loop" is very useful to allow an event to be processed before using the results or
clearing it's activation request.
Examples:
DefineHome=true
Wait For Control Loop
DefineHome=false
Wait For Time
This program instruction is used to halt program execution for a specified period of time. This instruction is not a motion
instruction and can be used while a motion instruction is executing. Units: Seconds, Resolution: 0.001 seconds
A comment is automatically inserted after the "Wait For Time" instruction which notes that the time is in units of seconds. The
comment starts with the apostrophe ' character.
Examples:
Wait For Time 5.000
Do While (TRUE)
Index.1.Initiate
Wait For AtVel
DriveOutput.1=ON
Wait For Time 1.000
DriveOutput.1=OFF
Wait For Index.AnyCommandComplete
Loop
4.4.2

Program Math Functions

Cos
This trig function can be used in formulas from within a program. Example:
the trigonometric cosine in degrees. Cos(x) x is in degrees and accurate to 6 decimal places.
Sin
This trig function can be used in formulas from within a program. Example:
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:
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:
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:
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:
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.
The exact mathematical function for the Modulus function is as follows:
Modulus(x,y) = x - [(FLOOR (x/y)) * y]
Epsilon EP-P Drive Reference Manual
Revision A4
'Decelerate to a stop
'seconds
'Repeat until the program is halted
'Incremental,Dist=25.250in,Vel=10.0in/s
'Turn Output 1 ON for 1 second, after the 'index
reaches its' target velocity
'seconds
var.var0 = Cos(var.var1)
var.var0 = Sin(var.var1)
var.var0 =Tan(var.var1)
var.var0 = ArcCos(var.var1)
var.var0 = ArcSin(var.var1)
var.var0 = ArcTan(var.var1)
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