Installation guide

64 Programming Commands
Mathematical Function Page
ABS Returns the absolute value of an expression. 79
ATN Returns the angle (in radians) whose tangent is x. 85
ATN2 Returns the angle (in radians) whose tangent is y/x. 85
COS Returns the cosine of the angle x, where x is in radians. 89
LOG Returns the natural logarithm of a numeric expression. 129
MOD Returns the remainder of a number divided by the base. 131
SIGN Returns the sign of the expression. 155
SIN Returns the sine of the angle x, where x is in radians. 155
SQRT Returns the square root of the expression. 160
TAN Returns the tangent of the angle x, where x is in radians. 161
Miscellaneous Command
CAPPOS Returns the last captured absolute position of an axis from a
MOVEHOME, MOVEREG or CAPTURE cycle. 87
CAPTURE Sets the position capture trigger condition or returns the position
capture status. 88
COMMON Allows variables to be shared by other tasks. 89
DATA Stores the numeric constants used by the READ statement. 90
#DEFINE Defines a symbolic name to be a particular string of characters. 91
DELTACAPPOS Returns the difference between the current captured position and the
previously captured position. 92
DIM Declares an array variable and allocated storage space. 93
END Signifies the end of a program. 99
ERR Returns the MX controller error/warning number for a task. 100
ERRAXIS Returns the MX controller axis number which created the error/warning
for a task. 102
ERRTRAP Sets an error trap in the defined task. 102
FORMAT Enables or disables the formatting of the STR$ returned string. 113
#INCLUDE Includes a file name with define statements in a user task. 122
LOF Returns the number of character in the designated serial port buffer. 129
NVR The NVR array is used for non-volatile variable storage. 137
NVRBIT Stores or returns the bit value in NVR memory. 138
NVRBYTE Stores or returns the byte value in NVR memory. 139
OPTION DECLARE This option requires that all local variables be declared as REAL or
STRING variables. 139
READ Reads numbers from data statements and assigns them to a variable. 151
REM ‘ Allows source code comments to be inserted in the program. 153
RESET Resets the system. 153
RESTORE Allows DATA statements to be read again. 153
SETCOM Sets the baud rate and data format for the Auxiliary serial port. 154
SHIFT Shifts the elements of a single-dimension numeric array up or down. 155
TOLERANCE Sets a tolerance on a numeric comparison. 163
WARNING Returns the warning number of a task. 166
Motion Parameter
ARC Initiates a coordinated motion to move in an arc. 84
BOOST Enables or Disables the Boost current feature or returns the boost enable
status of an axis. 86
BUSY Returns the motion status of an axis. 86
DONE Returns the motion status of an axis. 95
DRVREADY Enables or disables the checking of the drive (READY) signal on the
axis card. 96