Galil Motion Control RIO-47**0, Руководство пользователя

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DM OUTPUT[10] Dimension Output Array
OUTPUT[1]=3 Assigns the second element of the array, OUTPUT, the value of
3.
OUTPUT[1]= Returns array element value
OUTPUT[9]=_TI0 Assigns the 10th element of the array, OUTPUT, the value for
bank 0 digital inputs
data [2]=@COS[POS]*2 Assigns the third element of the array “data” the cosine of the
variable POS multiplied by 2.
TIMER[1]=TIME Assigns the second element of the array timer the returned value
of the TIME keyword.
Using a Variable to Address Array Elements
An array element number can also be a variable. This allows array entries to be assigned sequentially using a
counter.
For example:
Instruction Interpretation
#A Begin Program
COUNT=0;DM POS[10] Initialize counter and define array
#LOOP Begin loop
WT 10 Wait 10 msec
INPUT[COUNT]=_TI0 Record bank 0’s input bit value into array element
INPUT[COUNT]= Report input bit value
COUNT=COUNT+1 Increment counter
JP #LOOP,COUNT<10 Loop until 10 elements have been stored
EN End Program
The above example records 10 input bit values for bank 0 at a rate of one value per 10 msec. The values are
stored in an array named INPUT. The variable, COUNT, is used to increment the array element counter.
The above example can also be executed with the automatic data capture feature described below.
Uploading and Downloading Arrays to On Board Memory
Arrays may be uploaded and downloaded using the QU and QD commands.
QU array[],start,end,delim
QD array[],start,end
where array is an array name such as A[].
Start is the first element of array (default=0)
End is the last element of array (default=last element)
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 RIO provides a special feature for automatic capture of data such as inputs or outputs. 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 be done as a one-time event or as a circular continuous recording.
RIO-47xxx Chapter 5 Programming ● 67