Galil DMC-1700 Automatic Data Capture into Arrays, Command Summary - Automatic Data Capture

Start is the first element of array (default=0)

End is the last element of array (default=last element)

Delim specifies whether the array data is seperated 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-1700/1800 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 eight types of data can be captured and stored in eight 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	DESCRIPTION
RA n[],m[],o[],p[]	Selects up to eight arrays for data capture. The arrays must be defined with the
	DM command.
RD type1,type2,type3,type4	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.
RC n,m	The RC command begins data collection. Sets data capture time interval where
	n is an integer between 1 and 8 and designates 2n msec between data. m is
	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 continuoudly in a circular
	manner. _RD is the recording pointer and indicates the address of the next array
	element. n=0 stops recording.
RC?	Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress

Data Types for Recording:

DATA TYPE	DESCRIPTION
_AFn	Analog input (n=X,Y,Z,W,E,F,G,H, for AN inputs 1-8)
_DEX	2nd encoder position (dual encoder)
_NOX	Status bits
_OP	Output
_RLX	Latched position
_RPX	Commanded position
_SCX	Stop code
_TEX	Position error
_TI	Inputs
_TPX	Encoder position
_TSX	Switches (only bit 0-4 valid)
_TTX	Torque (reports digital value +/-32544)

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

DMC-1700/1800 Chapter 7 Application Programming • 159