Galil Motion Control optcom Page 173
Optima DMC-1xxx and DMC-18x2 Command Reference
RD
i
162
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:
_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 65 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:
"RA"
Record Array
"RC"
Record Interval
"DM"
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
JG 1000;BG
Begin motion
