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EZMotion User/Programming Guide

165

Revision A8

www.controltechniques.com

9.8.2

Program Math Functions

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.

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.

Cos

This trig function can be used in formulas from within a program. Example:

var.var0 = Cos(var.var1)

. Returns the

trigonometric cosine in degrees. Cos(x) x is in degrees and accurate to 6 decimal places.

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]

Where FLOOR is defined as rounding the argument down to the next whole integer value towards negative infinity.

Example: FLOOR(-3.5715) = -4 or FLOOR(3.5715) = 3

The FLOOR function itself is not available to the user within a user program.

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

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.

9.8.3

Program Array Access

Cam[ ].Follower

This instruction allows the user to write a value to a specified cam table follower element number. In the following example
Cam table 1, follower element 2 will be changed to the value of 3.

Example:

Cam[1,2].Follower =3

Cam[ ].Interpolation

This instruction allows the user to write a value to a specified cam table follower element number. In the following example
Cam table 1, Interpolation element 2 will be changed to the value of 3.

Example:

Cam[1,2].Interpolation =3

Cam[ ].Master

This instruction allows the user to write to a specified cam table master element number. In the following example: Cam table
0, master element 3 will be changed to 7.

Example:

Cam [0,3].Master=7

9.8.4

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 that notes that the dwell time is in units of seconds.
The comment starts with the apostrophe ' character.