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DMC-1700/1800 Chapter 7 Application Programming • 159
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 seperated by a comma (delim=1) or a carriage return (delim=0).
The file is terminated using <control>Z, <control>Q, <control>D or \.
Automatic Data Capture into Arrays
The DMC-1700/1800 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 eight types of
data can be captured and stored in eight arrays. The capture rate or time interval may be specified. Recording can
done as a one time event or as a circular continuous recording.
Command Summary - Automatic Data Capture
COMMAND DESCRIPTION
RA n[],m[],o[],p[]
Selects up to eight 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 2
n
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 continuoudly 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
_AFn Analog input (n=X,Y,Z,W,E,F,G,H, for AN inputs 1-8)
_DEX 2
nd
encoder position (dual encoder)
_NOX Status bits
_OP Output
_RLX Latched position
_RPX Commanded position
_SCX Stop code
_TEX Position error
_TI Inputs
_TPX Encoder position
_TSX Switches (only bit 0-4 valid)
_TTX Torque (reports digital value +/-32544)
Note: X may be replaced by Y,Z or W for capturing data on other axes.