Galil Motion Control DMC-42 0 Series, User Manual

Page: 132 / 218

Command Summary - Automatic Data Capture
Command Description
RA n[ ],m[ ],o[ ],p[ ] Selects up to eight 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
TIME Controller time as reported by the TIME command
_AFn Analog input (n=X,Y,Z,W,E,F,G,H, for AN inputs 1-8)
_DEX 2 nd encoder position (dual encoder)
_NOX Status bits
_OP Output
_RLX Latched position
_RPX Commanded position
_SCX
Stop code
_TEX Position error
_TI Inputs
_TPX Encoder position
_TSX Switches (only bit 0-4 valid)
_TTX
Torque (reports digital value
±
32544)
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.
Example - Recording into An Array
During a position move, store the X and Y positions and position error every 2 msec.
#RECORD Begin program
DM XPOS[300],YPOS[300] Define X,Y position arrays
DM XERR[300],YERR[300] Define X,Y error arrays
RA XPOS[],XERR[],YPOS[],YERR[] Select arrays for capture
RD _TPX,_TEX,_TPY,_TEY Select data types
PR 10000,20000 Specify move distance
RC1
Start recording now, at rate of 2 msec
BG XY Begin motion
#A;JP #A,_RC=1 Loop until done
MG “DONE” Print message
EN End program
#PLAY Play back
N=0 Initial Counter
JP# DONE,N>300 Exit if done
N=
Print Counter
X POS[N]= Print X position
Y POS[N]= Print Y position
XERR[N]= Print X error
YERR[N]= Print Y error
N=N+1 Increment Counter
#DONE Done
EN End Program
Chapter 7 Application Programming ▫ 128 DMC-42x0 User Manual