課件德國kuka機(jī)器人manipulation_en

1、Data manipulationArithmetic operatorsDivision/Multiplication*Subtraction or negative sign-Addition or positive sign+DescriptionOperatorREALREALREALREALINTINTREALINTOperandsBasic arithmetic operations for the data types INTEGER and REAL:Result of an arithmetic operation:Program exampleDEF ARITH();- D

2、eclaration section -INT A,B,CREAL K,L,M;- Initialization section - ;All variables are invalid prior to initialization!A = 2;A=2B =9.8;B=10C = 7/4;C=1K= 3.5;K=3.5L = 0.1 E01;L=1.0M= 3;M=3.0;- Main section-A = A * C;A=2B = B - HB;B=-1C= C + K;C=5K = K * 10;K=35.0L = 10 / 4;L=2.0L = 10 / 4.0;L=2.5L = 1

3、0 / 4.;L=2.5L = 10./ 4;L=2.5C = 10./ 4.;C=3M= (10/3) * M ;M=9.0ENDRelational operatorsINT, REAL, CHAR, ENUMless than/equal to=INT, REAL, CHAR, ENUMless thanINT, REAL, CHAR, ENUM, BOOLnot equal toINT, REAL, CHAR, ENUM, BOOLequal to=Permissible data typesDescriptionOperatorUsing relational operators,

4、it is possible to form logic expressions. The result of a comparison is always of data type BOOL.Example:BOOL A,B.B = 10 3;B=FALSEA = 10/3 = 3 ;A=TRUEB = (B = A) (10.00001 = 10) = TRUE ;B=TRUELogic operatorsExclusive OR2EXORLogic OR2ORLogic AND2ANDInversion1NOTDescriptionOperand numberOperatorLogic

5、operators are used for logic operations with Boolean variables, constants and simple logic expressions.Example:.BOOL A,B,C.A = TRUE;A=TRUEB = NOT A;B=FALSEC = (A AND B) OR NOT (B EXOR NOT A);C=TRUEA = NOT NOT C;A=TRUE.Truth tableFALSEFALSEFALSETRUEB=FALSEA=FALSETRUETRUEFALSETRUEB=TRUEA=FALSETRUETRUE

6、FALSEFALSEB=FALSEA=TRUEFALSETRUETRUEFALSEB=TRUEA=TRUEA EXOR BA OR BA AND BNOT AOperationTruth table for logic operations:1&=11Bit operatorsBit operators are used to perform logic operations on the individual bits of whole numbers.Bit-by-bit exclusive OR operation2B_EXORBit-by-bit OR operation2B_ORBi

7、t-by-bit AND operation2B_ANDBit-by-bit inversion1B_NOTDescriptionOperand numberOperatorAs ASCII characters can also be addressed via the integer ASCII code, the data type of the operands may also be CHAR besides INT. The result is always of type INT.Bit operators124820212223Values=1200112nd number=5

8、10101st number=40010B_AND=131011B_OR=91001B_EXORExample:Bit-by-bit inversion does not simply involve all the bits being inverted. Instead, 1 is added to the operand and the sign is changed, e.g.:B_NOT 10 = -11orB_NOT -10 = 9Priority of operatorsOperators will be executed in order of priority.= B);E=FALSEStandard functionsATAN2 (Y, X)Arc tangentACOS (X)Arc cosineTAN (X)TangentCOS (X)CosineSIN (X)SineSQRT (X)Square rootABS (X)Absolute valueFunctionDescript