AXY:Rec2Pext feature

Replaying a previously recorded pext signal.

To simulate an external input, you can record it in a "*.rec" file and replay it later in a simulated mode. This feature was implemented in firmware Version 4.5.26 and is an internal feature (i.e., the code is in the form of user functions).

First you must add this segment into your proto.pro file:

import_c MOT_GET_RECORD(byval as long, as string) as long 
import_c MOT_GET_RECDATA(byval as long, byval as long,byval as long) as double
import_c MOT_GET_RECRUN(byval as long,byval as long) as double
import_c MOT_GET_RUNINDEX(byval as long) as long
import_c MOT_REC_START(byval as long,byval as long) as long
import_c MOT_SET_REC_OFFSET(byval as long,byval as double) as double
import_c MOT_REC_MASTER(byval as long,byval as long) as long
import_c MOT_REC_VER()as long

The feature is then started as shown in the following example:

dim shared fname as string = "CYCREC.DAT" ' Original file was CYCREC.REC and I renamed it to *.dat so that do not have to send it each time.
dim shared master_axis as generic axis
dim shared column as long = 2
program
  ?VesExecute("sys.Motion = 1")
  call SetAxis(a1)
  call SetAxis(a2)
  attach a2
  attach a1
    a1.En = 0
    a2.En = 0
    master_axis = a1
    Print "Recorder version :",MOT_REC_VER()
    Print "Opening file ", fname, "on axis", master_axis.elementname, ":";MOT_GET_RECORD(master_axis.elementid, fname)
    Print "See telnet output for details."
    Print "Offset = ", MOT_SET_REC_OFFSET(master_axis.elementid,17*(2^32))
    Print "Hook PEXT of the axis:"; master_axis.elementname;" :"; MOT_REC_MASTER(master_axis.elementid,column); " on column:";column; " of the file"
    a2.MasterSource = a1.Pext

attach a2
attach a1
    record test.rec 500000 gap = 1 recdata = a1.Pext, a2.PCmd, a2.slave
    recordon
    Print "Go:", MOT_REC_START(master_axis.elementid,on)
    a2.En = 1
    a1.En = 1
    sleep 100
    a2.Slave = 1
    while MOT_GET_RUNINDEX(master_axis.elementid) < 17990
 '     sleep 1
    end while
    a2.Slave =0
    sleep 1000
detach a1
detach a2
    a1.En = 0
    a2.En = 0
    Print "Done"
    recordclose

end program 

The above program will generate exactly the same signal as was recorded in the CYCREC.REC file, knowing that PEXT is in column 2.

The program printout will be:

1	set.
A2	set.
Recorder version :	2
Opening file 	CYCREC.DAT	on axis	A1	:0
See telnet output for details.
Offset = 	7.30144e+10
Hook PEXT of the axis:A1 :0 on column:2 of the file
Go:	1
Done

On telnet, the content of the REC file:

AMCS-> File name = CYCREC.DAT
 n = 6 m = 18002 gap = 1
 Recdata = PCDRYIN.PCMD,PCDRYIN.PEXT,PCDRYIN.DSTATSHR13,PCDRYIN.DCONSHR13,PCDRYIN.SLAVE,PCDRYIN.ISMOVING
 108012 bytes read. size = 108012

--Mirko 11:16, 5 October 2010 (CEST)