Galil DMC-3425 Manual De Usuario
DMC-3425
Chapter 7 Application Programming
• 133
DM SPEED[10]
Dimension Speed Array
SPEED[1]=7650.2
Assigns the first element of the array the value 7650.2
SPEED[1]=
Returns array element value
POSX[10]=_TPA
Assigns the 11
th
element the position of A.
CON[2]=@COS[POS]*2
Assigns the 3
rd
element of the array the cosine of POS * 2.
TIMER[1]=TIME
Assigns the 2
nd
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.
using a counter.
This 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. This
example can also be executed with the automatic data capture feature described below.
array named POS. The variable, COUNT, is used to increment the array element counter. This
example can also be executed with the automatic data capture feature described below.
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
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).
(delim=0).
The file is terminated using <control>Z, <control>Q, <control>D or \.
Automatic Data Capture into Arrays
The DMC-3425 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.
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.