DMC-100/1500 Command Reference
RD
•
113
DMC-1000
DMC-1500
RD
FUNCTION:
Record Data
DESCRIPTION:
The RD command specifies the data type to be captured for the Record Array (RA) mode.
The command type includes:
_DEx 2nd
encoder
_TPx Position
_TEx Position
error
_SHx Commanded
position
_RLx Latched
position
_TI Inputs
_OP Outputs
_TSx
Switches, only 0-4 bits valid
_SCx Stop
code
_TTx
Tell torque (Note: the values recorded for torque are in the range of +/-
32767 where 0 is 0 torque, -32767 is -10 volt command output, and
+32767 is +10 volt.
where ‘x’ is the axis specifier.
ARGUMENTS:
RD m
1
,m
2
,m
3
,m
4
,m
5
,m
6
,m
7
,m
8
where
The arguments are data types to be captured using the record array feature. The order is
important. Each data type corresponds with the array specified in the RA command.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
-
In a Program
Yes
Default Format
-
Command Line
Yes
Can be Interrogated
No
Used as an Operand
Yes
OPERAND USAGE:
_RD contains the address for the next array element for recording.
RELATED COMMANDS:
RA Record
Array
RC Record
Interval
DM Dimension
Array
EXAMPLES:
DM ERRORX[50],ERRORY[50]
Define array
RA ERRORX[],ERRORY[ ]
Specify record mode
RD _TEX,_TEYS
Specify data type
RC1 Begin
record
JG 1000;BG
Begin motion
