Reference Manual

PMAC 2 Software Reference

PMAC On-Line Command Specification 229

GATHER

Function

Begin data gathering.

Scope

Global

Syntax

GATHER [TRIGGER]

GAT [TRIG]

Remarks

This command causes data gathering to commence according to the configuration defined in

I-variables I19-I45. If TRIGGER is not used in the command, gathering will start on the next

servo cycle. If TRIGGER is used, gathering will start on the first servo cycle after machine

input MI2 goes true.

Gathering will proceed at the frequency set by I19 (in number of servo interrupt cycles). If

I19 is 0, only one set of data will be gathered per GATHER command. If PMAC is already

gathering data, GATHER will cause resynchronization of the gathering cycle to the next servo

cycle.

Gathering will continue until PMAC receives an ENDGATHER command, or until the buffer

created by the DEFINE GATHER command is full.

This command is usually used in conjunction with the data gathering and plotting functions

of the PMAC Executive Program.

If a motion or PLC program buffer is open when this command is sent to PMAC, the

command will be entered into that buffer for later execution.

Example

GAT B1R .......... Start gathering and run program 1

ENDG.................. Stop gathering – give this command when moves

........................... of interest are done

OPEN PROG2 CLEAR

X10

DWELL1000

CMD”GATHER”. Program issues start command here

X20 .................... Move of interest

DWELL50

CMD”ENDG”...... Program issues stop command here