Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Mathematical Features 490
ACOS implements the inverse cosine, or arc-cosine, function, of the mathematical expression contained
inside the following parentheses.
This function returns values in degrees if I15 is set to the default value of 0; it returns values in radians if
I15 is set to 1.
If the argument inside the parentheses is outside of the legal domain of –1.0 to +1.0, an arbitrary value
will be returned. No error will be reported, and the program will not stop. It is the programmer’s
responsibility to check for possible domain errors.
Execution time, 80 MHz CPU: 6.7 µsec interpreted, 4.3 µsec compiled
Examples:
P50=ACOS(P48/P49) ; Computes angle whose cos is P48/P49
C(ACOS(Q70/10)) ; Move C axis to specified angle
ASIN
Function: Trigonometric arc-sine
Syntax: ASIN({expression})
Domain: -1.0 to +1.0
Domain units: none
Range: -π /2 to +π/2 radians (-90 to +90 degrees)
Range units: Radians/degrees
ASIN implements the inverse sine, or arc-sine, function, of the mathematical expression contained inside
the following parentheses.
This function returns values in degrees if I15 is set to the default value of 0; it returns values in radians if
I15 is set to 1.
If the argument inside the parentheses is outside of the legal domain of –1.0 to +1.0, an arbitrary value
will be returned. No error will be reported, and the program will not stop. It is the programmer’s
responsibility to check for possible domain errors.
Execution time, 80 MHz CPU: 7.0 µsec interpreted, 4.7 µsec compiled
Examples:
P50=ASIN(P48/P49) ; Computes angle whose sin is P48/P49
C(ASIN(Q70/10)) ; Move C axis to specified angle
ATAN
Function: Trigonometric arc-tangent
Syntax: ATAN({expression})
Domain: All real numbers
Domain units: none
Range: -Pi/2 to +Pi/2 radians (-90 to +90 degrees)
Range units: Radians/degrees
ATAN implements the standard inverse tangent, or arc-tangent, function, of the mathematical expression
contained inside the following parentheses. This standard arc-tangent function returns values only in the
+/-90-degree range; if a full +/-180-degree range is desired, the ATAN2 function should be used instead.
This function returns values in degrees if I15 is set to the default value of 0; it returns values in radians if
I15 is set to 1.
Execution time, 80 MHz CPU: 5.9 µsec interpreted, 3.5 µsec compiled