Sin; Speed; Sqr; Sramp - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description
Arguments:
Example:

6-3-178 SIN

Type:
Syntax:
Description:
Arguments:
Example:

6-3-179 SPEED

Type:
Description:
See also:
Example:

6-3-180 SQR

Type:
Syntax:
Description:
Arguments:
Example:

6-3-181 SRAMP

Type:
Description:
Precautions:
See also:

6-3-182 STEPLINE

Type:
186
expression
Any valid BASIC expression.
>> PRINT SGN(-1.2)
-1.0000
Mathematical Function
SIN( expression )
The SIN function returns the sine of the expression. Input values are in radi-
ans and may have any value. The result value will be in the range from -1 to 1.
expression
Any valid BASIC expression.
>> PRINT SIN(PI/2)
1.0000
Axis Parameter
The SPEED parameter contains the demand speed in units/s. It can have any
positive value (including zero). The demand speed is the maximum speed for
the speed profiled motion commands.
ACCEL, AXIS, DATUM,
MOVECIRC, MOVEMODIFY, REVERSE, UNITS
SPEED = 1000
PRINT "Set speed = ";SPEED
Mathematical Function
SQR( expression )
The SQR function returns the square root of the expression. The expression
must have positive (including zero) value.
expression
Any valid BASIC expression.
>> PRINT SQR(4)
2.0000
Axis Parameter
The SRAMP parameter contains the S-curve factor. The S-curve factor con-
trols the amount of rounding applied to the trapezoidal profiles. A value of 0
sets no rounding. A value of 10 sets maximum rounding. The default value of
the parameter is 0.
SRAMP is applied to the FORWARD, MOVE, MOVEABS, MOVECIRC and
REVERSE commands. Note that using S-curves increases the time required
for the movement to complete.
The S-curve factor must not be changed while a move is in progress.
AXIS
Program Command
DECEL, FORWARD,
Section 6-3
MOVE, MOVEABS,