BASIC commands
PROGRAMMING MANUAL
136
Revi
si
on 3.0
3.2.237 SCOPE
/i
Type
System command
Syntax
SCOPE(control, period, table_start, table_stop, P0 [ , P1 [ , P2 [ , P3 ]]])
Description
The
SCOPE
command programs the system to automatically store up to 4
parameters every sample period. The storing of data will start as soon as the
TRIGGER
command has been executed.
The sample period can be any multiple of the servo period. The parameters
are stored in the TABLE array and can then be read back to a computer and
displayed on the Trajexia Tools Oscilloscope or written to a file for further
analysis using the
Create Table file
option on the
File
menu.
The current TABLE position for the first parameter which is written by
SCOPE
can be read from the
SCOPE_POS
parameter.
Notes:
1.Trajexia Tools uses the
SCOPE
command when running the Oscilloscope
function.
2.To minimize calculation time for writing the real-time data, the
SCOPE
com-
mand is writing raw data to the TABLE array. For example
a)The parameters are written in encoder edges (per second) and therefore
not compensated for the
UNITS
conversion factor.
b)The
MSPEED
parameter is written as the change in encoder edges per
servo period.
3.Applications like the
CAM
command,
CAMBOX
command and the
SCOPE
command all use the same TABLE as the data area.
Arguments
•
control
Set on or off to control
SCOPE
execution. If turned on the
SCOPE
is
ready to run as soon as the
TRIGGER
command is executed.
•
period
The number of servo periods between data samples.
•
table_start
The address of the first element in the TABLE array to start storing data.
•
table_stop
The address of the last element in the TABLE array to be used.
•
P0
First parameter to store.
•
P1
Optional second parameter to store.
•
P2
Optional third parameter to store.
•
P3
Optional fourth parameter to store.
Example
SCOPE(ON,10,0,1000,MPOS AXIS(1),DPOS AXIS(1))
This example programs the
SCOPE
function to store the
MPOS
parameter
for axis 1 and the
DPOS
parameter for axis 1 every 10 servo cycles. The
MPOS
parameter will be stored in TABLE locations 0 to 499; the
DPOS
parameters, in TABLE locations 500 to 999. The
SCOPE
function will wrap
and start storing at the beginning again unless stopped. Sampling will not
start until the
TRIGGER
command is executed.
Example
SCOPE(OFF)
This above line turns the scope function off.
See also
SCOPE_POS
,
TABLE
,
TRIGGER
.
I52E-EN-03.book Seite 136 Freitag, 29. Juni 2007 11:55 11
