Galil DMC-2X00 Using a Variable to Address Array Elements, Automatic Data Capture into Arrays

con[2]=@COS[POS]*2	Assigns the 2nd element of the array the cosine of POS * 2.
timer[1]=TIME	Assigns the 1st element of the array TIME

Using a Variable to Address Array Elements

An array element number can also be a variable. This allows array entries to be assigned sequentially using a counter.

Instruction	Interpretation
#A	Begin Program
count=0;DM POS[10]	Initialize counter and define array
#LOOP	Begin loop
WT 10	Wait 10 msec
POS[count]=_TPA	Record position into array element
POS[count]=	Report position
count = count +1	Increment counter
JP #LOOP, count <10	Loop until 10 elements have been stored
EN	End Program

The above example records 10 position values at a rate of one value per 10 msec. The values are stored in an array named POS. The variable, COUNT, is used to increment the array element counter. The above example can also be executed with the automatic data capture feature described below.

Uploading and Downloading Arrays to On Board Memory

Arrays may be uploaded and downloaded using the QU and QD commands. QU array[],start,end,delim

QD array[],start,end

where array is an array name such as A[]. 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 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-2x00 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 be done as a one time event or as a circular continuous recording.

DMC-2X00 Chapter 7 Application Programming y 103