The Closed Loop Data Screen has always required the controller to enter the run mode and attempt a shear pior to any data being captured.

At times it has been desireable to begin capturing data right away or to capture the data prior to some sort of drive fault that may occur infrequently.

In the capture menu two new options have been added.

Immediate: This begins capturing 32 seconds of data imediately. This allows a user to start the capture and capture during a die reference or while jogging the motor.

= Fault: This option captures data forever as long as the drive enable is ON. As long as the enable is still ON, at the end of 32 seconds the data capture will begin again. This is usefull if there is a drive fault that occurs infrequently.

There is obvious room for improvement in these features but they were implemented as is while troubleshooting a problem. There are other higher priority issues to work on at this time now that their initial use has been fulfilled. There is no reason to wait for them to be perfect before providing them for others to use.