Specifications

BASIC commands
PROGRAMMING MANUAL 163
Revision 5.0
3.2.239 SCOPE_POS
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3.2.240 SELECT
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Description The SCOPE command programs the system to automatically store up to 4
parameters every sample period. The storing of data will start as soon as the
TRIGGER command has been executed.
The sample period can be any multiple of the servo period. The parameters
are stored in the TABLE array and can then be read back to a computer and
displayed on the Trajexia Studio Oscilloscope or written to a file for further
analysis using the Create Table file option on the File menu.
The current TABLE position for the first parameter which is written by SCOPE
can be read from the SCOPE_POS parameter.
Notes:
1.Trajexia Studio uses the SCOPE command when running the Oscilloscope
function.
2.In firmware versions before 1.6720 the SCOPE command is writing raw
data to the TABLE array. For example
a)The parameters are written in encoder edges (per second) and therefore
not compensated for the UNITS conversion factor.
b)The MSPEED parameter is written as the change in encoder edges per
servo period.
From firmware version 1.6720 the SCOPE command uses the UNITS con-
version factor when storing the parameters.
3.Applications like the CAM command, CAMBOX command and the SCOPE
command all use the same TABLE as the data area.
Arguments • control
Set on or off to control SCOPE execution. If turned on the SCOPE is
ready to run as soon as the TRIGGER command is executed.
• period
The number of servo periods between data samples.
• table_start
The address of the first element in the TABLE array to start storing data.
• table_stop
The address of the last element in the TABLE array to be used.
• P0
First parameter to store.
• P1
Optional second parameter to store.
• P2
Optional third parameter to store.
• P3
Optional fourth parameter to store.
Example SCOPE(ON,10,0,1000,MPOS AXIS(1),DPOS AXIS(1))
This example programs the SCOPE function to store the MPOS parameter
for axis 1 and the DPOS parameter for axis 1 every 10 servo cycles. The
MPOS parameter will be stored in TABLE locations 0 to 499; the DPOS
parameters, in TABLE locations 500 to 999. The SCOPE function will wrap
and start storing at the beginning again unless stopped. Sampling will not
start until the TRIGGER command is executed.
Example SCOPE(OFF)
This above line turns the scope function off.
See also SCOPE_POS, TABLE, TRIGGER.
Type System parameter (read-only)
Syntax SCOPE_POS
Description The SCOPE_POS parameter contains the current TABLE position at which
the SCOPE command is currently storing its parameters.
Arguments N/A
Example No example.
See also SCOPE.
Type Program command
Syntax SELECT "program_name"