Automatic Data Capture Into Arrays - Galil Motion Control DMC-1600 Series User Manual

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-1600 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 four types of data can be captured and stored in four 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
RA n[],m[],o[],p[]
RD type1,type2,type3,type4
RC n,m
RC?
Data Types for Recording:
DATA TYPE
_DEX
_TPX
_TEX
_SHX
_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
142 • Chapter 7 Application Programming
DESCRIPTION
Selects up to four arrays for data capture. The arrays must be defined with the
DM command.
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.
The RC command begins data collection. Sets data capture time interval where
n is an integer between 1 and 8 and designates 2
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.
Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress
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.
n
msec between data. m is
DMC-1600