Ra (record array), General – Yaskawa LEGEND-MC User Manual
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LEGEND-MC User’s Manual
RA (Record Array)
[General]
DESCRIPTION:
The RA command selects up to four arrays for automatic data capture. The selected arrays must have been
dimensioned by the DM command. The data to be captured is specified by the RD command and time
interval by the RC command.
ARGUMENTS: RA n [ ],m [ ],o [ ],p [ ]
where
n,m,o,p are dimensioned arrays as defined by DM command. The [ ] contain nothing.
USAGE:
RELATED COMMANDS:
EXAMPLES:
NOTE: The record array mode is useful for recording the real-time motor position during motion. The data is automatically
captured in the background and does not interrupt the program sequencer. The record mode can also be used for a teach or
learn of a motion path.
While Moving
Yes
Default Value
---
In a Program
Yes
Default Format
---
Command Line
Yes
Can be Interrogated
No
Used as an Operand
No
Distributed Control
No, Local
"DM"
Dimension Array
"RD" Record
Data
"RC" Record
Interval
#Record
Label
DM POS[100]
Define array
RA POS[]
Specify Record Mode
RD _TP
Specify data type for record
RC 1
Begin recording at 2 msec intervals
PR 1000;BG
Start motion
EN
End