Diagnosis

Activate logging

When the dynamic coordinate system is calculated, the input and output values and the current dynCS can also be logged for diagnostic purposes. Logged data is loaded from the controller when diagnostic data is uploaded and written to a file. Logging is activated in the start-up list by P-STUP-00074:

Example:

          configuration.channel[0].interpolator.dyn_cs_history_max      1000

Example

Diagnosis

PATH : DYNAMIC CS, CHANNEL NO.:  1
=======================================================================
dynCs : max entries per PDU 15
TIME  STATE POSITION_IN CS_TRANSLATION  CS_ROTATION  POSITION_OUT
288943  1) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
944  2) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
945  3) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
946  4) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
947  5) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
948  6) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
949  7) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
950  8) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
951  9) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
952  10) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
953  11) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
954  12) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
955  13) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
956  14) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
957  15) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
958  16) 2 (3200,0,0,0,0,0) (1000,-1000,0) (0,0,0) (4200,-1000,0,0,0,0)
PATH LOGGING CHANNEL NO.: 1
=======================================================================
BF 8 logging : 16/40, level ffffffff, index 16
    time level  message
-----------------------------------------------------------------------
  260482 00000001 BAHN restart... start
  260486 00000001 BAHN restart...finished
  279043 00000010 dynCS: cmd=ON PLC=1 N0 FILTER=1000 WAIT=1
  279044 00000010 dynCS: ON, axis positions
  279044 00000010   a[0..2](3200, 0, 0)
  279044 00000010   a[3..5](0, 0, 0)
  279044 00000010 dynCS: ON, VALUE
  279044 00000010   T(0, 0, 0)
  279044 00000010   R(0, 0, 0)
  280043 00000010 dynCS: is on = DYN_CS_SYNC_ACTIVE
  288777 00000010 dynCS: cmd=OFF PLC=1 N0 FILTER=1000
  288777 00000010   a[0..2](3200, 0, 0)
  288777 00000010   a[3..5](0, 0, 0)
  288777 00000010 dynCS: VALUE
  288777 00000010   T(1000, -1000, 0)
  288777 00000010   R(0, 0, 0)