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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)
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