Galil DMC-1510, Руководство пользователя

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Chapter 7 Application Programming DMC-1500
_TSX Switches (only bit 0-4 valid)
_SCX Stop code
_NOX Status bits
_TTX Torque (reports digital value +/-8097)
Note: X may be replaced by Y,Z or W for capturing data on other axes, or A,B,C,D,E,F,G,H for
DMC-1580.
Operand Summary - Automatic Data Capture
Operand Description
_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.
Instruction Interpretation
#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
Deallocating Array Space
Array space may be deallocated using the DA command followed by the array name. DA*[0]
deallocates all the arrays.