Yaskawa SMC–4000 - Manual (Page 339)

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SMC–4000 User Manual
Automatic Data Capture into Arrays
The SMC–4000 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.
Commands used:
Data Types for Recording
*Note X may be replaced by Y,Z or W for capturing data on other axes, or A,B,C,D,E,F,G,H for
SMC–4000.
Example - Recording into An Array
During a position move, store the X and Y positions and position error every 2 msec.
RA n[ ],m[ ],o[ ],p[ ] Selects up to four arrays for data capture. The arrays must be
defined with the DM command.
RD_TI,_TPX,_SCZ,_TSY Selects the type of data to be recorded. See the table below for
the various types of data. The order of data type is important
and corresponds with the order of n,m,o,p arrays in the RA
command. In this example, the _TI input data is stored in the
first array selected by 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 2n 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. n=0 stops recording.
RC? or V=_RC Returns a 0 or 1 where, 0 denotes not recording, 1 specifies
recording in progress
_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
_TBX Status bits
_TTX Torque (reports digital value +/-32703)
#RECORD Begin program
DM XPOS[300],YPOS[300] Define X,Y position arrays