Galil DMC-13X8 ユーザーズマニュアル
Chapter 7 Application Programming
• 132
USER MANUAL
Data Types for Recording:
DATA TYPE
DESCRIPTION
_DEX
2nd encoder position (dual encoder)
_TPX Encoder
position
_TEX Position
error
_RPX Commanded
position
_RLX Latched
position
_TI Inputs
_OP Output
_TSX
Switches (only bit 0-4 valid)
_SCX Stop
code
_NOX Status
bits
_TTX
Torque (reports digital value +/-8097)
_AFX
Analog Input (Only stores inputs up to number of axes on the controller. For
example, a DMC-1338 could record the first three analog inputs only)
example, a DMC-1338 could record the first three analog inputs only)
Note: X may be replaced by Y,Z or W for capturing data on other axes.
Operand Summary - Automatic Data Capture
_RC
Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress
_RD
Returns address of next array element.
Example - Recording into An Array
During a position move, store the X and Y positions and position error every 2 msec.
#RECORD Begin
program
DM XPOS[300],YPOS[300]
Define X,Y position arrays
DM XERR[300],YERR[300]
Define X,Y error arrays
RA XPOS[],XERR[],YPOS[],YERR[]
Select arrays for capture
RD _TPX,_TEX,_TPY,_TEY
Select data types
PR 10000,20000
Specify move distance
RC1
Start recording now, at rate of 2 msec
BG XY
Begin motion
#A;JP #A,_RC=1
Loop until done
MG "DONE"
Print message
EN
End program
#PLAY Play
back
N=0 Initial
Counter
JP# DONE,N>300
Exit if done
N= Print
Counter
XPOS[N]=
Print X position
YPOS[N]=
Print Y position
XERR[N]=
Print X error