RA

 Syntax:Implicit Only
Operands:none
Burn:not burnable

Record Array

Hardware: All

Full Description

The RA command selects one through eight arrays for automatic data capture. The selected arrays must be 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[ ],q[ ],r[ ],s[ ],t[ ]

where
n,m,o,p,q,r,s, and t are dimensioned arrays as defined by DM command. The square brackets are empty, [].

Operand Usage

N/A

Usage

Usage and Default Details
UsageValue
While Moving (No RIO)Yes
In a ProgramYes
Command LineYes
Controller UsageAll
Default ValueN/A
Default FormatN/A

Related Commands

DM - Dimension Array
RD - Record Data
RC - Record Interval

Examples:

#Record;'     Label
DM POS[100];' Define array
RA POS[];'    Specify Record Mode
RD _TPA;'     Specify data type for record
RC 1;'        Begin recording at 2 msec intervals
PR 1000;BG;'  Start motion
EN;'          End

Hint:  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.  

GalilTools: The GalilTools Realtime scope can often be used as an alternative to record array.