Yaskawa MP900 Series Motion Programming Manual - Manual (Page 137)

Sequence Commands
4.1.3 Combinations of Logic Operations
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Classification Programming Format Name Command
Basic Functions SIN SINE SIN(MW− );
COS COSINE COS(MW− );
TAN TANGENT TAN(MW− );
ASN ARC SINE ASN(MW− );
ACS ARC COSINE ACS(MW− );
ATN ARC TANGENT ATN(MW− );
SQRT SQUARE ROOT SQRT(MW− );
BIN BCD-TO-BINARY BIN(MW− );
BCD BINARY-TO-BCD BCD(MW− );
S{} SET BIT S{MB−} = MB− &MB− ;
R{} RESET BIT R{MB−} = MB− &MB− ;
4.1.2 Combinations of Math Operations
Operations can be performed by combining math commands and functions. The order of prior-
ity of operations does not have to be considered. Perform the operations from left to right.
To change the order, use parentheses.
The following example shows a math expression.
Example: MW00100=MW00102 + MW00104 * SIN(MW00106);
1 2
The operation is performed in the order shown by the numbers.
The following examples show the changes in the operation order when parentheses ( ) are used.
S MF00100=100.+200.* 0.5 * SIN(30.);
(75.) 1 2 3
S MF00100=100.+ (200.* 0.5 * SIN(30.));
(150.) 3 1 2
S MF00100=100.+ (200* 0.5) * SIN(30.);
(100.) 2 1 3
4.1.3 Combinations of Logic Operations
Logic operations can be performed by combining logic operation commands and functions.
There is no order of priority for operations. Although operations that use a combination of math
operations and mixed expressions are also possible, real number operations cannot be per-
formed.
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