The system Data Logger provides a uniform method for automatically logging a series of values at regular intervals over a period of time. Virtually any of the key system parameters and variables can be sampled by this method. This facility is typically used to fine tune the performance of the servo subsystem or to capture data to assist in diagnosing programming and timing issues.
The Datalogger operates by reading values from the Parameter Database. This database includes static values such as joint stop limits but, more importantly, includes dynamic values such as the position and velocity of motors. To see all of the values that can be accessed in the Parameter Database, please go to the Configuration page.
Up to 12 values can be simultaneously sampled. The sampling rate can be as fast as 8 times per millisecond or as slow as you wish. The total number of samples that can be stored is a function of the number of values stored per sample and the size of the Datalogger sample buffer. The size of the sample buffer can be configured and typically is set to be large enough to collect a few thousand samples.
There are 3 basic steps to setting up and using the Datalogging feature.
1. Specify variables to collect.
2. Define the trigger (when the system starts and stops logging data).
3. Perform the data collection.
Once you have the Datalogger initialized, you can take repeated data sets or go back and redo any steps in any order you please.