Galil DMC-13X8 user manual Data Types for Recording, Operand Summary Automatic Data Capture

Data Types for Recording:

DATA TYPE	DESCRIPTION
_DEX	2nd encoder position (dual encoder)
_TPX	Encoder position
_TEX	Position error
_RPX	Commanded position
_RLX	Latched position
_TI	Inputs
_OP	Output
_TSX	Switches (only bit 0-4 valid)
_SCX	Stop code
_NOX	Status bits
_TTX	Torque (reports digital value +/-8097)
_AFX	Analog Input (Only stores inputs up to number of axes on the controller. For
	example, a DMC-1338 could record the first three analog inputs only)

Note: X may be replaced by Y,Z or W for capturing data on other axes.

Operand Summary - Automatic Data Capture

_RC

_RD

Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress

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.

#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
XPOS[N]=	Print X position
YPOS[N]=	Print Y position
XERR[N]=	Print X error

Chapter 7 Application Programming • 132 USER MANUAL