User guide
76
6250 Servo Controller User Guide
Inverse Tangent
(Arc Tangent)
Example Response
> RADIANØ
> VAR1=SQRT(2)
> VAR1=ATAN(VAR1/2) : VAR1 *VAR1=+35.26
> VAR1=ATAN(.57735) : VAR1 *VAR1=+3Ø.Ø
Boolean
Operations
The 6250 has the ability to perform boolean operations with its numeric variables. The
following examples illustrate this capability. Refer to the 6000 Series Software
Reference Guide for more information.
Boolean And (&) Example Response
> VAR1=5 : VAR2=-1
> VAR3=VAR1 & VAR2 : VAR3 *VAR3=+Ø.Ø
Boolean Or (|)
Example Response
> VAR1=5 : VAR2=-1
> VAR3=VAR1 | VAR2 : VAR3 *VAR3=+1.Ø
Boolean
Exclusive Or (^)
Example Response
> VAR1=5 : VAR2=-1
> VAR3=VAR1 ^ VAR2 : VAR3 *VAR3=+1.Ø
Boolean Not (~)
Example Response
> VAR1=5
> VAR3=~(VAR1) : VAR3 *VAR3=+Ø.Ø
> VAR1=-1
> VAR3=~(VAR1) : VAR3 *VAR3=+1.Ø
Performing Operations with Binary Variables
The 6250 has the ability to perform bitwise functions with its binary variables. The
following examples illustrate the bit manipulation capabilities of the 6250.
Bitwise And (&) Example > VARB1=b11Ø1 : VARB1
Response *VARB1=11Ø1_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
Example > VARB1=VARB1 & bXXX1 11Ø1 : VARB1
Response *VARB1=XXØ1_XXØX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
Example > VARB1=hØØ32 FDA1 & h1234 43E9 : VARB1
Response *VARB1=ØØØØ_ØØØØ_11ØØ_ØØØØ_ØØ1Ø_1ØØØ_Ø1Ø1_1ØØØ
Bitwise Or (|)
Example > VARB1=h32FD : VARB1
Response *VARB1=11ØØ_Ø1ØØ_1111_1Ø11_ØØØØ_ØØØØ_ØØØØ_ØØØØ
Example > VARB1=VARB1 | bXXX1 11Ø1 : VARB1
Response *VARB1=11X1_11Ø1_1111_1X11_XXXX_XXXX_XXXX_XXXX
Example > VARB1=hØØ32 FDA1 | h1234 43E9 : VARB1
Response *VARB1=1ØØØ_Ø1ØØ_11ØØ_Ø11Ø_1111_1111_Ø111_1ØØ1
Bitwise Exclusive
Or (^)
Example > VARB1=h32FD ^ bXXX1 11Ø1 : VARB1
Response *VARB1=XXX1_1ØØ1_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
Example > VARB1=hØØ32 FDA1 ^ h1234 43E9 : VARB1
Response *VARB1=1ØØØ_Ø1ØØ_ØØØØ_Ø11Ø_11Ø1_Ø111_ØØ1Ø_ØØØ1
Bitwise Not (~)
Example > VARB1=~(h32FD) : VARB1
Response *VARB1=ØØ11_1Ø11_ØØØØ_Ø1ØØ_1111_1111_1111_1111
Example > VARB1=~(b1Ø1Ø XX11 Ø1Ø1) : VARB1
Response *VARB1=Ø1Ø1_XXØØ_1Ø1Ø_XXXX_XXXX_XXXX_XXXX_XXXX
Shift Left to Right
(>>)
Example > VARB1=h32FD >> h4 : VARB1
Response *VARB1=ØØØØ_11ØØ_Ø1ØØ_1111_1Ø11_ØØØØ_ØØØØ_ØØØØ
Example > VARB1=b1Ø1Ø XX11 Ø1Ø1 >> b11 : VARB1
Response *VARB1=ØØØ1_Ø1ØX_X11Ø_1Ø1Ø_XXXX_XXXX_XXXX_XXXX
Shift Right to Left
(<<)
Example > VARB1=h32FD << h4 : VARB1
Response *VARB1=Ø1ØØ_1111_1Ø11_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ
Example > VARB1=b1Ø1Ø XX11 Ø1Ø1 << b11 : VARB1
Response *VARB1=ØXX1_1Ø1Ø_1XXX_XXXX_XXXX_XXXX_XXXX_XØØØ
Teach Mode