Scope_Pos - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description
Description:
Arguments:
See also:
Examples:

6-3-171 SCOPE_POS

Type:
The SCOPE command programs the system to automatically store up to 4
parameters every sample period. The storing of data will start as soon as the
TRIGGER command has been executed.
The sample period can be any multiple of the servo period. The parameters
are stored in the Table array and can then be read back to a computer and
displayed on the Motion Perfect Oscilloscope or written to a file for further
analysis using the "Create Table file" option on the File Menu.
The current Table position for the first parameter which is written by SCOPE
can be read from the SCOPE_POS parameter.
Note 1. Motion Perfect uses the SCOPE command when running the Oscilloscope
function.
2. To minimize calculation time for writing the real-time data, the SCOPE
command is writing raw data to the Table array. For example
a) The parameters are written in encoder edges (per second) and there-
fore not compensated for the UNITS conversion factor.
b) The MSPEED parameter is written as the change in encoder edges
per servo period.
3. Applications like the CAM command, CAMBOX command and the SCOPE
command all use the same Table as the data area.
control
Set ON or OFF to control SCOPE execution. If turned ON the SCOPE is
ready to run as soon as the TRIGGER command is executed.
period
The number of servo periods between data samples.
table_start
The address of the first element in the Table array to start storing data.
table_stop
The address of the last element in the Table array to be used.
P0
First parameter to store.
P1
Optional second parameter to store.
P2
Optional third parameter to store.
P3
Optional fourth parameter to store.
SCOPE_POS, TABLE, TRIGGER
Example 1
SCOPE(ON,10,0,1000,MPOS AXIS(1),DPOS AXIS(1))
This example programs the SCOPE function to store the MPOS parameter for
axis 1 and the DPOS parameter for axis 1 every 10 servo cycles. The MPOS
parameter will be stored in table locations 0 to 499; the DPOS parameters, in
table locations 500 to 999. The SCOPE function will wrap and start storing at
the beginning again unless stopped. Sampling will not start until the TRIG-
GER command is executed.
Example 2
SCOPE(OFF)
This above line turns the scope function off.
Motion Perfect Parameter
Section 6-3
183