Mathematical And Functional Expressions; Mathematical Operators; Bit-Wise Operators - Galil Motion Control CDS-3310 User Manual

Mathematical and Functional Expressions

Mathematical Operators

For manipulation of data, the CDS-3310 provides the use of the following mathematical operators:
Operator
+
-
*
/
&
|
()
The numeric range for addition, subtraction and multiplication operations is +/-2,147,483,647.9999.
The precision for division is 1/65,000.
Mathematical operations are executed from left to right. Calculations within a parentheses have
precedence.

Bit-Wise Operators

The mathematical operators & and | are bit-wise operators. The operator, &, is a Logical And. The
operator, |, is a Logical Or. These operators allow for bit-wise operations on any valid CDS-3310
numeric operand, including variables, array elements, numeric values, functions, keywords and
arithmetic expressions. The bit-wise operators may also be used with strings. This is useful for
separating characters from an input string. When using the input command for string input, the input
variable will hold up to 6 characters. These characters are combined into a single value which is
represented as 32 bits of integer and 16 bits of fraction. Each ASCII character is represented as one
byte (8 bits), therefore the input variable can hold up to six characters. The first character of the string
will be placed in the top byte of the variable and the last character will be placed in the lowest
significant byte of the fraction. The characters can be individually separated by using bit-wise
operations as illustrated in the following example:
CDS-3310
Function
Addition
Subtraction
Multiplication
Division
Logical And (Bit-wise)
Logical Or (On some computers, a solid vertical line appears as a broken line)
Parenthesis
speed=7.5*V1/2
count= count +2
result=_TPA-(@COS[45]*40)
temp=@IN[1]&@IN[2]
Instruction
#TEST
IN "ENTER",len{S6}
flen=@FRAC[len]
flen=$10000* flen
len1=( flen &$00FF)
The variable 'speed' is equal to 7.5 multiplied by V1 and
divided by 2
The variable 'count' is equal to the current value plus 2.
Puts the position of A - 28.28 in 'result' ( 40 * cosine of
45° is 28.28)
'temp' is equal to 1 only if Input 1 and Input 2 are high
Interpretation
Begin main program
Input character string of up to 6 characters into
variable 'len'
Define variable 'flen' as fractional part of variable
'len'
Shift flen by 32 bits (IE - convert fraction, flen, to
integer)
Mask top byte of flen and set this value to variable
Chapter 7 Application Programming
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