Galil DMC-2X00 user manual Command Summary Automatic Data Capture, Data Types for Recording

Command Summary - Automatic Data Capture

command	description
RA n[],m[],o[],p[]	Selects up to four 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 continuously 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
_DEA	2nd encoder position (dual encoder)
_TPA	Encoder position
_TEA	Position error
_SHA	Commanded position
_RLA	Latched position
_TI	Inputs
_OP	Output
_TSA	Switches (only bit 0-4 valid)
_SCA	Stop code
_NOA	Status bits
_TTA	Torque (reports digital value +/-32544)
_AFA	Analog Input (Letter corresponds to input, e.g. AFA = 1st Analog In, AFB=2nd
	Analog In.)

NOTE: A may be replaced by B,C,D,E,F,G, or H 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

Instruction	Interpretation
#RECORD	Begin program
DM apos[300],bpos[300]	Define A,B position arrays
DM aerr[300],berr[300]	Define A,B error arrays
RA apos [],aerr[],bpos[],berr[]	Select arrays for capture
RD _TPA,_TEA,_TPB,_TEB	Select data types

104 • Chapter 7 Application Programming DMC-2X00