3.6.1. Mathematical Functions

Mathematical functions supported from the C/C++ Math library are as shown in the table below.

Figure 3.108: Supported mathematical functions

Functions	Description
ABS(E1)	Definition	Use to compute the absolute value of E1.
	Input (E1)	Real
	Return Value	Real ≥ 0
	Example	ABS(-1.5) = 1.5
ACOS(E1)	Definition	Use to compute the arc-cosine of E1.
	Input (E1)	-1 ≤ Real ≤ 1. If the input value is greater than 1 or less than -1, it will be limited 1 or -1, respectively.
	Return Value	0 ≤ Real < PI in Radians
	Example	ACOS(0.5) = PI/3
AINT(E1)	Definition	Use to truncate E1 to the whole number.
	Input (E1)	Real
	Return Value	Integer. If the magnitude of E1 is less than 1, then AINT(E1) returns 0. If the magnitude is equal to or greater than 1, then it returns the largest whole number that does not exceed its magnitude. The sign is the same as the sign of E1.
	Example	AINT(-1.5678) = -1, AINT(0.17) = 0
ANINT(E1)	Definition	Use to round E1 to the nearest whole number.
	Input (E1)	Real
	Return Value	Integer. If E1 is greater than 0, then ANINT(X) returns AINT(E1+0.5). If E1 is less than or equal to 0, then return AINT(E1-0.5).
	Example	ANINT(0.4) = 0, ANINT(-1.9) = -2
ASIN(E1)	Definition	Use to compute the arcsine of E1.
	Input (E1)	-1 ≤ Real ≤ 1. If the input value is greater than 1 or less than -1, it will be limited 1 or -1, respectively.
	Return Value	-PI/2 ≤ Real ≤ PI/2 in Radians.
	Example	ASIN(0.5) = PI/6
ATAN(E1)	Definition	Use to compute the arctangent of E1.
	Input (E1)	Real
	Return Value	-PI/2 ≤ Real ≤ PI/2 in Radians.
	Example	ATAN(1.0) = PI/4
ATAN2(E1,E2)	Definition	Use to compute the arctangent of E2/E1.
	Input (E1,E2)	Real
	Return Value	-PI < Real ≤ PI in Radians. The return value can be computed under several conditions as follows. 1) E1 > 0 → ATAN(E2/E1) 2) E1 < 0 & E2 ≥ 0 → ATAN(E2/E1) + PI 3) E1 < 0 & E2 ≤ 0 → ATAN(E2/E1) - PI 4) E1 = 0 & E2 > 0 → PI/2 5) E1 = 0 & E2 < 0 → -PI/2 6) E1 = 0 & E2 = 0 → 0
	Example	ATAN2(1.0,-1.0) = 3*PI/4, ATAN2(-1.0,1.0) = -PI/4
CEIL(E1)	Definition	Use to return the least integer greater than or equal to E1.
	Input (E1)	Real
	Return Value	Integer
	Example	CEIL(0.4) = 1, CEIL(-0.9) = 0
COS(E1)	Definition	Use to compute the cosine of E1.
	Input (E1)	Real (Radians)
	Return Value	Real
	Example	COS(PI/3) = 0.5
COSH(E1)	Definition	Use to compute the hyperbolic cosine of E1.
	Input (E1)	Real (Radians)
	Return Value	Real
	Example	COSH(PI/18) = 1.01526957
DIM(E1,E2)	Definition	Use to compute the difference E1-E2 if the result is positive. Otherwise returns zero.
	Input (E1,E2)	Real
	Return Value	Real ≥ 0
	Example	DIM(2,1) = 1, DIM(1,2) = 0
EXP(E1)	Definition	Use to compute the base e exponential of E1.
	Input (E1)	Real
	Return Value	Real
	Example	EXP(1.0) = e (Euler's number)
FLOOR(E1)	Definition	Use to return the greatest integer less than or equal to E1.
	Input (E1)	Real
	Return Value	Integer
	Example	FLOOR(0.4) = 0, FLOOR(-0.9) = -1
INT(E1)	Definition	Use to truncate x to the whole number.
	Input (E1)	Real
	Return Value	Integer. If the magnitude of x is less than 1, then INT(E1) returns 0. If the magnitude is equal to or greater than 1, then it returns the largest whole number that does not exceed its magnitude. The sign is the same as the sign of x.
	Example
LOG(E1)	Definition	Use to compute the natural (base e) logarithm of E1.
	Input (E1)	Real > 0
	Return Value	Real
	Example	LOG(2.7182818) = 1.0
LOG10(E1)	Definition	Use to compute the base 10 logarithm of E1.
	Input (E1)	Real > 0
	Return Value	Real
	Example	LOG(100.0) = 2.0
MAX(E1,E2)	Definition	Use to return the maximum value of E1 and E2.
	Input (E1,E2)	Real
	Return Value	Real
	Example	MAX(1,2) = 2
MIN(E1,E2)	Definition	Use to return the minimum value of E1 and E2.
	Input (E1,E2)	Real
	Return Value	Real
	Example	MIN(1,2) = 1
MOD(E1,E2)	Definition	Use to computes the remainder of the division of E1 by E2.
	Input (E1,E2)	Real. E2 must be not equal to zero.
	Return Value	Real. The return value can be calculated as follows. E1 - INT(E1/E2) * E2.
	Example	MOD(9,4) = 1
POW(E1,E2)	Definition	Use to computes E1 raised to the power of E2.
	Input (E1,E2)	Real. E1 must be not equal to zero.
	Return Value	Real. The return value can be computed under several conditions as follows. 1) E1 > 0 → E1^E2 2) E1 = 0 & E2 > 0 → 0 3) E1 = 0 & E2 = 0 → 1 4) E1 = 0 & E2 < 0 → 0 5) E1 < 0 & E2 is an integer number. → E1^E2 6) E1 < 0 & E2 has a finite decimal. → 0 For 4) case and 6) cases, the return value is not calculated but actually Motion solver returns zero value.
	Example	POW(2,4) = 16
RAND(E1,E2)	Definition	Use to returns a pseudo-random number from a uniform distribution between E1 and E2.
	Input (E1,E2)	Real. E2 must be greater than E1.
	Return Value	Real
	Example	RAND(6,9) = 6, 7, 8 or 9
SIGN(E1,E2)	Definition	Use to return the value of E1 with the sign of E2.
	Input (E1,E2)	Real
	Return Value	Real
	Example	SIGN(7,-1) = -7, SIGN(-7,-1) = -7, SIGN(-7,1) = 7
SIN(E1)	Definition	Use to compute the sine of E1.
	Input (E1)	Real (Radians)
	Return Value	Real
	Example	SIN(PI/6) = 0.5
SINH(E1)	Definition	Use to compute the hyperbolic sine of E1.
	Input (E1)	Real (Radians)
	Return Value	Real
	Example	SINH(PI/18) = 0.17542037
SQRT(E1)	Definition	Use to compute the square root of E1.
	Input (E1)	Real ≥ 0
	Return Value	Real ≥ 0
	Example	SQRT(4) = 2
TAN(E1)	Definition	Use to compute the tangent of E1.
	Input (E1)	Real in Radians. E1 must be not equal to (2N-1)*PI/2.
	Return Value	Real
	Example	TAN(PI/4) = 1.0
TANH(E1)	Definition	Use to compute the hyperbolic tangent of E1.
	Input (E1)	Real (Radians)
	Return Value	Real
	Example	TANH(PI/18) = 0.172782