Galil DMC-1510, Руководство пользователя

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DMC-1500 Chapter 7 Application Programming
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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 DMC-1500 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 eight types of data can be captured and stored in eight 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 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 2n 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