Motion synchronous actions
10.2 Operators for conditions and actions
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10-8 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
10.2 10.2 Operators for conditions and actions
Comparison
(==, <>, <, >, <=, >=)
Variables or partial expressions can be
compared in conditions. The result is
always of data type BOOL. All the usual
comparison operators are permissible.
Boolean operators
(NOT, AND, OR, XOR)
Variables, constants or comparisons can
be linked with each other with the usual
Boolean operators.
Bit-by-bit operators
(B_NOT, B_AND, B_OR, B_XOR)
The bit operators B_NOT, B_AND, B_OR,
B_XOR can be used.
Basic arithmetic operations
(+, -, *, /, DIV, MOD)
Main run variables can be linked to one
another or to constants by forms of basic
computation.
Mathematical functions
(SIN, COS, TAN, ASIN, ACOS, ABS, TRUNC,
ROUND, LN, EXP, ATAN2, POT, SQRT, CTAB,
CTABINV).
Mathematical functions cannot be applied
to variables of data type REAL.
Indexing Indexing can be undertaken using main run
expressions.
Example
• Basic arithmetic operations used together
Multiplication and division are performed before addition and subtraction and bracketing of
expressions is permissible. The operators DIV and MOD are permissible for the data type
REAL.
DO $AC_PARAM[3] = $A_INA[1]-$AA_IM[Z1] ;Subtraction of two
;Main run variables
WHENEVER $AA_IM[x2] < $AA_IM[x1]-1.9 DO $A_OUT[5] = 1
;Subtraction of a constant from variables
DO $AC_PARAM[3] = $INA[1]-4*SIN(45.7 $P_EP[Y])*R4
;Constant expression, calculated during
;preprocessing
• Mathematical functions
DO $AC_PARAM[3] = COS($AC_PARAM[1])
• Real-time expressions
ID=1 WHENEVER ($AA_IM[Y]>30) AND ($AA_IM[Y]<40)
DO $AA_OVR[S1]=80
;Selection of a position window
ID=67 DO $A_OUT[1]=$A_IN[2] XOR $AN_MARKER[1] ;Evaluate 2 Boolean signals
ID=89 DO $A_OUT[4]=$A_IN[1] OR ($AA_IM[Y]>10) ;Output of the result
;of a comparison
• Main run variable indexed
WHEN…DO $AC_PARAM[$AC_MARKER[1]] = 3
Illegal
$AC_PARAM[1] = $P_EP[$AC_MARKER]
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