Yaskawa LEGEND-MC - Manual (Page 318)

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LEGEND-MC User’s Manual
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 LEG-
END-MC.
Example - Recording into An Array
During a position move, store the X and Y positions and position error every 2 msec.
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
DM XERR[300],YERR[300] Define X,Y error arrays
RA XPOS[],XERR[],YPOS[],YERR[] Select arrays for capture
RD _TPX,_TEX,_TPY,_TEY Select data types
PR 10000,20000 Specify move distance
RC1 Start recording now, at rate of 2 msec
BG XY Begin motion
#A;JP #A,RC=1 Loop until done
MG "DONE" Print message
EN End program
#PLAY Play back