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Galil Motion Control - manc 18x 6 (Page 176)

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Galil Motion Control - manc 18x 6
DMC-18x6 Command Reference
168
RD
FUNCTION: Record Data
DESCRIPTION:
The RD command specifies the data type to be captured for the Record Array (RA) mode. The
command type includes:
TIME
Time in servo sample as read by the TIME command
_AFn
Analog Input Value (+32767 to -32768). The analog inputs are limited
to those which correspond to an axis on the controller.
_DEn 2nd
encoder
_TPn Position
_TEn Position
error
_SHn Commanded
position
_RLn Latched
position
_TI Inputs
_OP Outputs
_TSn
Switches, only 0-4 bits valid
_SCn Stop
code
_TTn
Tell torque (Note: the values recorded for torque are in the range of +/-
32767 where 0 is 0 torque, -32767 is -10 volt command output, and
+32767 is +10 volt.
_TVn
Filtered velocity. (Note: will be GJ times greater than TV command)
where `n' is the axis specifier, A...H
ARGUMENTS: RD m
1
, m
2
, m
3
, m
4
, m
5
, m
6
, m
7
, m
8
where
the arguments are data types to be captured using the record Array feature. The order is important.
Each data type corresponds with the array specified in the RA command.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
-
In a Program
Yes
Default Format
-
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_RD contains the address for the next array element for recording.
RELATED COMMANDS:
Array
Record Interval
Dimension Array
EXAMPLES:
DM ERRORA[50],ERRORB[50]
Define array
RA ERRORA[],ERRORB[ ]
Specify record mode
RD _TEA,_TEBS
Specify data type
RC1 Begin
record

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