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... input Open collector input 10 Phase W Pole sensor phase W input Open collector input FG Shield ground Cable shield ground Shell Power supply output for the encoder 5 V, 70 mA Differential sine-wave input Differential ...

... +A input Encoder phase –A input Encoder phase +B input Encoder phase –B input Encoder phase Z input Pole sensor phase U input Pole sensor phase V input Pole sensor phase W input Shield ground Differential sine-wave input Differential ...

..., the X and Y coordinates of points on the arc are repeatedly computed. They are then used to create a transformation that defines the destination for the next robot motion segment. DURATION 0.5 ALWAYS FOR angle = start TO last STEP angle.step x = radius*...

...37 Chapter 3: Keyword Details 3.1 Function Keywords 39 39 ABS ACCEL ACOS ALIGN ASC ASIN ATAN2 BASE BCD BELT BITS BMASK BSTATUS CAS $CHR COM CONFIG COS CUBRT $DBLB DBLB 22353-000 Rev. D 39 40 42 44 45 46 48 50 51 52 54 56 57 59 60 61 62 67 69 70 71 eV+3 Keyword Reference Manual 3 DCB $DECODE $DEFAULT DEFINED DEST DEVICE DISTANCE DURATION DX DY DZ ENCLATCH $ENCODE $ERROR ERROR FALSE $FLTB FLTB FRACT FRAME FREE GETC GET.EVENT HERE HOUR.METER $ID ID IDENTICAL INRANGE $INTB INT INTB INVERSE IOSTAT LAST...

..., the X and Y coordinates of points on the arc are repeatedly computed. They are then used to create a transformation that defines the destination for the next robot motion segment. DURATION 0.5 ALWAYS FOR angle = start TO last STEP angle.step x = radius*...

... output terminal and the power supply ground of the encoder is 2.5 V min. • The resistance between each combination of these terminals of the resolver is far from the rated resistance. Signal errors caused by noise. SIN energized terminals: 100 Ω ...

... the icon and then select Property to display [KE1-DRT-FLK Property]. Select the [I/O Information] tab and click on the [Edit] button to display the [I/O Size Change] window. Remote I/O Function (2) Change the OUT and IN sizes of the ...

...) (15-pin) Viewed from the wiring i i side id 6-4 Pin No. Signal name 1 2 3 4 5 6 7 8 S1 (sin+) S3 (sin–) FG S2 (cos+) S4 (cos–) FG ----- Cable color on Resolver side Red Black Yellow Blue Pin No. Signal name 9 10 11 12 13 14 15 Shield R1 (OUT+) R2 (OUT–) --------- Cable color on Resolver side Red/White Yellow/White Specifications Chapter 6 D 3F88L-RS15 Connector RM15WTP-10S-(8) Pin No. 1 2 3 4 5 6 7 8 9 10 Signal name S1 (sin+) S3 (sin–) --R1 (OUT+) R2 (...

....0 --- --- DEGREES TO RADIANS RAD 458 3 9.7 --- --- RADIANS TO DEGREES DEG 459 3 9.4 --- --- SINE SIN 460 3 15.8 --- --- COSINE COS 461 3 15.5 --- --- TANGENT TAN 462 3 17.5 --- --- ARC SINE ASIN 463 3 42.7 --- --- ARC COSINE ACOS 464 3 42.5 --- --- ARC TANGENT ATAN 465 3 21.3 --- --- SQUARE ROOT SQRT 466 3 25.5 --- --- EXPONENT EXP 467 3 18.1 --- --- LOGARITHM LOG 468 3 16.1 --- --- EXPONENTIAL POWER PWR 840 4 31.5 --- --- 366 Appendix D Auxiliary Area Allocations Instruction Floating Symbol Comparison Mnemonic Code LD, AND, OR +=F 329...

...Floating- point basic math +F FLOATINGPOINT ADD –F FLOATINGPOINT SUBTRACT /F FLOATINGPOINT DIVIDE *F FLOATINGPOINT MULTIPLY --- --- --- --- RAD DEGREES TO DEG RADIANS RADIANS TO DEGREES SIN SINE COS COSINE TAN TANGENT ASIN ARC SINE ACOS ARC COSINE ATAN ARC TANGENT --- --- SQRT SQUARE ROOT EXP EXPONENT LOG LOGARITHM PWR EXPONENTIAL POWER --- --- --- --- Symbol comparison and conversion* LD, AND, OR + =, <>, <, <=, >, >= + F Symbol comparison (single-precision floating point) --- --- --- --- Table data processing instructions Record-to-word processing MAX FIND MAXIMUM MIN FIND MINIMUM --- --- Data control instructions --- SCL SCALING SCL2 SCALING 2 SCL3 SCALING 3 AVG AVERAGE --- --- --- --- Subroutines instructions --- SBS SUBROUTINE CALL MCRO MACRO SBN SUBROUTINE ENTRY...

...-9 Function Block (FB) Functions Numerical functions SIN (argument) Argument data type REAL, LREAL Return value data type REAL, LREAL Contents Sine: SIN argument a: = SIN (b) (*sine of variable b stored in variable a*) ...

...FLOATING --- --- --- --- +F FLOATINGPOINT ADD –F FLOATINGPOINT SUBTRACT /F FLOATINGPOINT DIVIDE *F FLOATINGPOINT MULTIPLY --- --- --- --- RAD DEGREES TO DEG RADIANS RADIANS TO DEGREES SIN SINE COS COSINE TAN TANGENT ASIN ARC SINE ACOS ARC COSINE ATAN ARC TANGENT --- --- SQRT SQUARE ROOT EXP EXPONENT LOG LOGARITHM PWR EXPONENTIAL POWER --- --- --- --- LD, AND, OR + =, <>, <, <=, >, >= + F Symbol comparison (single-precision floating point) --- --- --- --- Floating- point basic math Floating- point trigonometric Floating- point math Symbol comparison and conversion* 15 Section 2-1 Instruction Classifications by Function Classification Sub-class Double-precision floating- point instructions* Floating point/ binary convert Mnemonic Instruction Mnemonic Instruction Mnemonic Instruction FIXD DOUBLE FIXLD FLOATING ...

...-90 to +90 [degree] All real numbers [Radian] -Pi/2 to Pi/2 [Radian] -Pi to +Pi [Radian] -180 to +180 [degree] -90 to +90 [degree] 4-3 4 PROGRAM CODES Syntax atanh({expression}) cbrt({expression}) ceil({expression}) ...

...)->2 DEGREES TO RADIANS RAD RAD ** Expansion ->458 3 (None)->2 RADIANS TO DEGREES DEG DEG ** Expansion ->459 3 (None)->2 SINE SIN SIN ** Expansion ->460 3 (None)->2 COSINE COS COS ** Expansion ->461 3 (None)->2 TANGENT TAN TAN ** Expansion ->462 ARC SINE ASIN ASIN ** Expansion ->463 3 (None)->2 ARC COSINE ACOS ACOS ** Expansion ->464 3 (None)->2 ARC TANGENT ATAN ATAN ** Expansion ->465 3 (None)->2 3 (None)->2 SQUARE ROOT SQRT SQRT ** Expansion ->466 3 (None)->2 EXPONENT EXP EXP ** Expansion ->467 3 (None)->2 LOGARITHM LOG LOG ** Expansion ->468 Table data processing instructions DATA ...

...APR BCNT ROOT APR BCNT ◎ ◎ △ 拡張→69 BCNTC [Ver.3.0～] ◎ 67→621 FIX FIXL FLT FLTL +F -F *F /F RAD DEG SIN COS TAN ASIN ACOS ATAN SQRT EXP LOG FIX FIXL FLT FLTL +F -F *F /F RAD DEG SIN COS TAN ASIN ACOS ATAN SQRT EXP LOG ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ 拡張→450 拡張→451 拡張→452 拡張→453 拡張→454 拡張→455 拡張→456 拡張→457 拡張→458 拡張→459 拡張→460 拡張→461 拡張→462 拡張→463 拡張→464 拡張→465...

...端子ネジ 200VA以下 12A AC外部端子一括とGR端子間 20MΩ以上 絶縁抵抗 形CVM1D-PA212 サイズ締付けトルク 1a AC250V 2A(COS φ＝1) 0.5A(COSφ＝0.4) DC24V 2A M3.5 0.8N・m 外形寸法 250(H)×47(W)×96(D)mm 質量 0.9kg 注．絶縁抵抗試験および耐電圧試験時は、電源ユニットの (LG)端子を (...

...)························································· 5－191 浮動小数点乗算··································· ＊F(456)························································· 5－192 浮動小数点除算··································· ／F(457)························································· 5－193 角度←→ラジアン変換·························· RAD(458)/DEG(459)········································ 5－194 SIN演算 ············································ SIN(460) ························································ 5－195 ...

...力します。 指定したデータを BCD の倍長データとして、平方根演算し、結果の整数部を BCD データとして出力します。 SIN、COS、折線近似計算をします。 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 620 ROOT/ @ROOT 072 数値変換 APR/ @APR FDIV/ @FDIV BCNT/ @BCNT FIX/ @FIX 069 浮動小数点 浮動小数点→16 変換・演算 ビット BIN 変換命令 機...

...@RAD なし なし − 459 なし なし − ラジアン→角度変換 DEG @DEG 460 SIN演算 SIN @SIN なし なし − 461 COS演算 COS @COS なし なし − 462 TAN演算 TAN @TAN なし なし − 463 SIN-1演算 ASIN @ASIN なし なし − 464 COS...

...RAD @RAD 458 RAD S D ラジアン→角度変換 DEG @DEG 459 DEG S D SIN 演算 SIN @SIN 460 SIN S D COS 演算 COS @COS 461 COS S D 2-56 2−6 命令の使用可否と、オペランドごとの使用変数の制限一覧 2−6−13 命令名称 TAN 演算 ニモニック TAN @TAN FUN No. 462 シンボル TAN S 浮動小数点変換・...