### RECORD

captures real-time variables to memory for retrieval / display using the GET command or the MotionLink PC Scope function. RECORD must be set up before the RECTRIG command is used. Note that variables that are recorded using this method are NOT averaged using AVGTIME.

1024 four-word buffers are available for use by the RECORD command, where one "word" is defined as 16 bits. Most variables in the ServoStar are one word in size, but some are two words. You can record up to three variables, as long as the total size of the three variables does not exceed 4 words. The following variables can be recorded by the ServoStar:

Variable | (Size) | Variable | (Size)
ANIN* I IA IC ICMD IN1* IN2* IN3* INPOS* O1* | (1 word) (2 words) (1 word) (1 word) (1 word) (1 word) (1 word) (1 word) (1 word) (1 word) | PCMD* PE* PEXT* PFB* PRD STOPPED* V VCMD VEXT* | (2 words) (2 words) (2 words) (2 words) (1 word) (1 word) (1 word) (1 word) (1 word)

* Added in firmware version 3.2.0

For example, a combination of V, VCMD, and VEXT is valid for recording, because it only takes up 3 words of memory. However, a combination of PCMD, PE, and PEXT (6 words total) cannot be recorded, because it exceeds 4 words of memory.

The RECORD command also defines the time period between each consecutive recorded data point and the variable names (up to three) being recorded. An additional parameter defines the number of recorded data points for each variable (up to 1024). Once they are recorded, variables are retrieved with the GET command. See also RECTRIG, RECDONE, RECING, and RECRDY Switch Variables.

Firmware Versions: all

Command Syntax:
RECORD [sample time] [num points] [VAR1] {VAR2} {VAR3}

Range/Units: sample time = 1 to 10,000 (* 0.5 milliseconds)
num points = 1 to 1024 (1, 2, 4, 8, … 512, 1024)
VARn = a system variable, by ASCII (text) name

Example: RECORD 10 100 "VCMD "V "PRD
(record 100 points for VCMD, V, and PRD every 5 milliseconds)

Note: system variables must be preceded by a double-quote ( ")

Opmodes: all Drive Status: en/dis