Galil Motion Control DMC-18 2 Series User Manual page 145

Data Types for Recording:
DATA TYPE
_DEX
_TPX
_TEX
_RPX
_RLX
_TI
_OP
_TSX
_SCX
_NOX
_TTX
Note: X may be replaced by Y,Z or W for capturing data on other axes.
Operand Summary - Automatic Data Capture
_RC
_RD
Example - Recording into An Array
During a position move, store the X and Y positions and position error every 2 msec.
#RECORD
DM XPOS[300],YPOS[300]
DM XERR[300],YERR[300]
RA XPOS[],XERR[],YPOS[],YERR[]
RD _TPX,_TEX,_TPY,_TEY
PR 10000,20000
RC1
BG XY
#A;JP #A,RC=1
MG "DONE"
EN
#PLAY
N=0
JP# DONE,N>300
N=
X POS[N]=
Y POS[N]=
XERR[N]=
YERR[N]=
N=N+1
#DONE
EN
134 ● Chapter 7 Application Programming
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DESCRIPTION
2nd encoder position (dual encoder)
Encoder position
Position error
Commanded position
Latched position
Inputs
Output
Switches (only bit 0-4 valid)
Stop code
Status bits
Torque (reports digital value +/-8097)
Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress
Returns address of next array element.
Begin program
Define X,Y position arrays
Define X,Y error arrays
Select arrays for capture
Select data types
Specify move distance
Start recording now, at rate of 2 msec
Begin motion
Loop until done
Print message
End program
Play back
Initial Counter
Exit if done
Print Counter
Print X position
Print Y position
Print X error
Print Y error
Increment Counter
Done
End Program
DMC-18x2