Functions - Galil Motion Control DMC-1600 Series User Manual

This program will accept a string input of up to 6 characters, parse each character, and then
display each character. Notice also that the values used for masking are represented in
hexadecimal (as denoted by the preceding '$'). For more information, see section Sending
Messages.
To illustrate further, if the user types in the string "TESTME" at the input prompt, the controller
will respond with the following:
T
E
S
T
M
E

Functions

FUNCTION
@SIN[n]
@COS[n]
@TAN[n]
@ASIN*[n]
@ACOS* [n}
@ATAN* [n]
@COM[n]
@ABS[n]
@FRAC[n]
@INT[n]
@RND[n]
@SQR[n]
@IN[n]
@OUT[n]
@AN[n]
* Note that these functions are multi-valued. An application program may be used to find the
correct band.
Functions may be combined with mathematical expressions. The order of execution of
mathematical expressions is from left to right and can be over-ridden by using parentheses.
Examples:
V1=@ABS[V7]
V2=5*@SIN[POS]
V3=@IN[1]
V4=2*(5+@AN[5])
DMC-1600
Response from command MG LEN6 {S4}
Response from command MG LEN5 {S4}
Response from command MG LEN4 {S4}
Response from command MG LEN3 {S4}
Response from command MG LEN2 {S4}
Response from command MG LEN1 {S4}
DESCRIPTION
Sine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)
Cosine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)
Tangent of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)
Arc Sine of n, between -90° and +90°. Angle resolution in 1/64000 degrees.
Arc Cosine of n, between 0 and 180°. Angle resolution in 1/64000 degrees.
Arc Tangent of n, between -90° and +90°. Angle resolution in 1/64000 degrees
1's Complement of n
Absolute value of n
Fraction portion of n
Integer portion of n
Round of n (Rounds up if the fractional part of n is .5 or greater)
Square root of n (Accuracy is +/-.0001)
Return digital input at general input n (where n starts at 1)
Return digital output at general output n (where n starts at 1)
Return analog input at general analog in n (where n starts at 1)
The variable, V1, is equal to the absolute value of variable V7.
The variable, V2, is equal to five times the sine of the variable, POS.
The variable, V3, is equal to the digital value of input 1.
The variable, V4, is equal to the value of analog input 5 plus 5, then multiplied by 2.
Chapter 7 Application Programming • 137