Servotronix CDHD Series - Recording Dat a in Term Inal

CDHD Tuning
User Manual 209
The acceptable range of the response (position error) is the movement
(in counts) at the endpoint.
Acceptable range:
2 × π × length
resolution × gear
Ex a m ple:
Mechanical dimension (joint length) = 0.5 m
Motor resolut ion: 1 rev = 17 bit = 131072 counts
Gear ratio = 1: 100
Acceptable range:
2 × π × 0.5
131072 × 100
I f m ot or moves 100 counts, m ovem ent at endpoint is 0.2 x 10
-6
m et er.
Acceptable range: 50-100.
9 .6 .3 Recor ding D at a in Ter m in al
Procedu re – Recording Data ( Te rm inal)
1 . Use the com m and RECORD to define t he variables to be recorded, the
recording interval, and the number of points to record.
The syntax for the recording instruction is:
RECORD {sample time} {num points} {var1} [var2] [var3]
For exam ple: RECORD 32 100 "VCMD "V "ICMD
Records 100 points for VCMD, V, and I CMD every 1 milliseconds
Not e that variables m ust be preceded by a quotation m ark (").
2 . Use the comm and RECTRI G to define the variable and conditions that
triggers the recording.
The syntax for the recording trigger instruction is:
RECTRIG {var} [level] [pre-trig] [above|below]
N ote: I f the specified num ber of pre-trigger points is greater than the number
of points actually recorded prior t o the trigger, the pre-trigger segm ent
of the recording will include the value of t he variable before m otion
began.
For exam ple, record a Jog (J) that goes to 1000 rpm st art ing from zero
with an acceleration of 10000 rps/ s; specify the record level at 1 rpm ,
the direct ion as Up, 128 pre-trigger points and a time interval of 1.
Since there will not be 128 points of pre-trigger motion, the record dat a
will be packed with zeros (zero velocit y com m and before the motion).
3 . Use the variable RECDONE (recording finished) and/ or RECI NG (recording in
progress) to det erm ine whether recorded dat a is available.
4 . Set variable GETMODE to 0. Then use the command GET to retrieve the
recorded data in a com m a-separated variable (CSV) ASCII form at .
Fun ct ion Var Com D escript ion
Recor ding
Act iva tion
Com m ands
RECORD
Defines the variables to be recorded and t he
recording tim e span and sam ple time.
RECTRIG
Defines the t riggering condition for starting a
recording, and also pre-trigger duration.