Galil Motion Control RIO-47 series RIO-47100 User Manual

Galil Motion Control RIO-47 series
RIO-47100 User Manual Manual pdf 70 page image

FunctionsFunction Description@SIN[n] Sine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)@COS[n] Cosine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)@TAN[n] Tangent of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)@ASIN[n]* Arc Sine of n, between -90 and +90 . Angle resolution in 1/64000 degrees. @ACOS[n]* Arc Cosine of n, between 0 and 180 . Angle resolution in 1/64000 degrees.@ATAN[n]* Arc Tangent of n, between -90 and +90 . Angle resolution in 1/64000 degrees @COM[n] 1’s Complement of n@ABS[n] Absolute value of n@FRAC[n] Fraction portion of n@INT[n] Integer portion of n@RND[n] Round of n (Rounds up if the fractional part of n is .5 or greater)@SQR[n] Square root of n (Accuracy is +/-.004)@IN[n] Return digital input at general input n (where n starts at 0)@OUT[n] Return digital output at general output n (where n starts at 0)@AN[n] Return analog input at general input n (where n starts at 0)@AO[n] Return analog output at general output n (where n starts at 0)*: These functions are multi-valued. An application program may be used to find the correctband.Functions may be combined with mathematical expressions. The order of execution of mathematicalexpressions is from left to right and can be over-ridden by using parentheses.Examples:V1=@ABS[V7] The variable, V1, is equal to the absolute value of variable V7.V2=5*@SIN[POS] The variable, V2, is equal to five times the sine of the variable, POS.V3=@IN[1] The variable, V3, is equal to the digital value of input 1.VariablesThe number of variables available on the RIO depends on the option ordered, see Table 1.2.Thesevariables can be numbers or strings. A program can be written in which certain parameters, such asI/O status or particular I/O bit, are defined as variables. The variables can later be assigned by theoperator or determined by program calculations. Example:SB Red Uses variable “Red” in SB commandinput1=_@IN[1] Assigns value of digital input 1 status to variable “input1”Programmable VariablesEach variable is defined by a name, which can be up to eight characters. The name must start with analphabetic character, however, and numbers are permitted in the rest of the name. Spaces are notpermitted. Variable names should not be the same as RIO instructions. For example, RS is not a goodchoice for a variable name.Examples of valid and invalid variable names are:Valid Variable NamesSTATUS1TEMP1Chapter 5 Programming ▫ 70 RIO-47xxx Rev. 1.0r