Yaskawa J50M Instructions - Manual (Page 117)

Sample #i = SIN
I
(7) Considerations for Operational Commands
The constant without decimal point used in
> is assumed to have a decimal point
at its enc?.
B . When used in conditional expression IF o r
WHILE, function ROUND truncates the fractions.
c. When used in address data, ROUND
rounds the part below the least significant
digit.
Sample
#10 = 12.3758
When the least significant digit of address
X is 0.001 mm, the following command
Goo x [ ROUND [
means
GOO x12.376 ;
because 8 of 12.3758 is rounded.
This command is also equivalent to
GOO ;
Usually, ROUND is not used as mentioned above;
it is used as shown below:
Sample (b)
When ROUND is used as follows, the program re-
turns to the start point correctly:
#10 = 12.3758 ;
#11 = 13.1236 ;
G91 GOO ;
R E T R A C T I O N
;
GOO x- [ ROUND [#lo] + ROUND [ # n ] ] ;
This is because the data of #10 and #11 in
and
blocks are substantially rounded before
being executed.
If block is
GOO X- [#10 + ;
then, the movement is made by the following
amount:
X- [ #10 + #n] = X - [12.3758 + 13. 1236]
= X -
—
- X - [25.499]
On the other hand, block movement of
+ = x12.376 + x13.124
= x25.500
The program of@ is not correct.
(8) O p e r a t i o n a l E r r o r s
The data format and the operational errors in the
user macros are as follows:
A. Data Format
The numeric data handled in user macros are of
the floating point format.
where, is sign + data 52-bit binary,
E is sign + data 10-bit binary.
B. operational Errors
Each time an operation is performed, the follow-
ing error is caused and is accumulated. The num-
ber of significant digits is 15 to
which com-
pensates the error sufficiently.
2.11.7 CONTROL COMMANDS
The commands which control the flow of micro-
program are of the following two types:
A . Branch Command . . .
expression>] GOTO n ;
B . Repeat Command . . .
expression>] DO m ;
( 1 ) Branch Command
IF [<conditional
WHITE [<conditional
A. IF [ <conditional expression> ] GOTO n ;
If <conditional expression> of this command is
established, a branch is made to the block of sequence
number n within the same program. When a variable
or an expression is used for n, the branch destination
can be changed. If the condition is not satisfied, the
program proceeds to the next block.
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