Delim specifies whether the array data is separated by a comma (delim=1) or a carriage return
(delim=0).
The file is terminated using <control>Z, <control>Q, <control>D or \.
Automatic Data Capture into Arrays
The DMC-1600 provides a special feature for automatic capture of data such as position, position
error, inputs or torque. This is useful for teaching motion trajectories or observing system
performance. Up to four types of data can be captured and stored in four arrays. The capture rate
or time interval may be specified. Recording can done as a one time event or as a circular
continuous recording.
Command Summary - Automatic Data Capture
COMMAND DESCRIPTION
RA n[],m[],o[],p[]
Selects up to four arrays for data capture. The arrays must be defined with the
DM command.
RD type1,type2,type3,type4 Selects the type of data to be recorded, where type1, type2, type3, and type 4
represent the various types of data (see table below). The order of data type is
important and corresponds with the order of n,m,o,p arrays in the RA command.
RC n,m
The RC command begins data collection. Sets data capture time interval where
n is an integer between 1 and 8 and designates 2
n
msec between data. m is
optional and specifies the number of elements to be captured. If m is not
defined, the number of elements defaults to the smallest array defined by DM.
When m is a negative number, the recording is done continuously in a circular
manner. _RD is the recording pointer and indicates the address of the next array
element. n=0 stops recording.
RC?
Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress
Data Types for Recording:
DATA TYPE
DESCRIPTION
_DEX
2nd encoder position (dual encoder)
_TPX Encoder
position
_TEX Position
error
_SHX Commanded
position
_RLX Latched
position
_TI Inputs
_OP Output
_TSX
Switches (only bit 0-4 valid)
_SCX Stop
code
_NOX Status
bits
_TTX
Torque (reports digital value +/-8097)
Note: X may be replaced by Y,Z or W for capturing data on other axes.
Operand Summary - Automatic Data Capture
_RC
Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress
_RD
Returns address of next array element.
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Chapter 7 Application Programming
DMC-1600
