Galil DMC-3425 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 +/-8097)

NOTE: B, C, D, E, F, G, or H may replace A 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
PR 10000,20000	Specify move distance

134 • Chapter 7 Application Programming DMC-3425