This field is a diagnostic aid. It consists of a number of bit flags. Setting the bits enable various trace messages to be output to the system console. Multiple bits can be OR'ed together.

Mask Description
   &H01    trace HTTP webserver
   &H02    trace edit server
   &H04    trace web events
   &H08    trace web command server
   &H10    trace vision server
   &H20    trace non-robot asynchronous commands
   &H40    trace Servo Network latency
   &H80    trace CAT3 Safety state machine

This flag is a diagnostic aid. When set TRUE, trace messages are displayed on the console that indicate changes in the system power state machine and in the Auto Execution mode selection.

This flag is a diagnostic aid. When set TRUE, trace messages are displayed on the console that indicate when an Auto Execution mode begins execution. Certain Auto Execution modes display additional information concerning their operation on the GPL console as well as the Web interface.

This flag enables a diagnostic aid. When set TRUE, trace messages are displayed on the console during the homing operation. Each line of the trace output corresponds to an individual homing operation for a specific motor.  The data output in each column should be interpreted as follows:

Col 1:  Step number.  The homing sequence for a motor can consist of from 1 to 9 steps.  Each step performs a single low-level operation.  For example, an operation might be to move in a positive direction or to stop moving if the home switch transitions.  This is the step number (1 to 9) being executed.
Col 2:  Motor number.  This is the number of the motor (1-n) to which the step applies.
Col 3:  Operation.  This is a code that details the actual operation that is being performed.  Should you need a list of operations, please contact Precise.
Col 4:  Status bits.  This is a hex value that indicates the current status conditions for the motor in question.  These bits are interpreted as follows:
    &H0002 - Axis is homed
    &H0004 - Found desired homing markers
    &H0008 - Home switch on
    &H0010 - High limit switch on
    &H0020 - Low limit switch on
    &H0040 - High hard stop detected
    &H0080 - Low hard stop detected
    &H0100 - Home switch transitioned high to low
    &H0200 - Home switch transitioned low to high
    &H0400 - Found desired homing markers and axis is not at a hard stop (no longer used internally)
Col 5:   Step done.  Will be non-zero when the operation has been completed.
Col 6:  Axis homed.  Will be non-zero when the axis has been successfully homed.

Diagnostic function to artificially force Ethernet errors to permit testing of the driver and the system.  If zero, no packets are dropped. If value is n > 0, the low-level Ethernet driver drops one out of 2**n transmit packets to simulate a network failure. For example, if the value is 4, one out of 16 transmit packets is discarded and not transmitted.  By default, this parameter is 0.

Program break on exception control. Setting these values to a negative GPL error number causes the occurrence of an exception with that number to breakpoint. Up to 8 different error numbers may be specified in the array. For example, if 307(1) = -757, an "Object not instantiated" exception is trapped. This array operates independently of the "Break on exception" (-bex) flag of the Start console command.

As a special debugging aid, any active Try...Catch structures can be ignored when any error occurs by setting one of the following values.  This is similar to starting an application in GDE with the "Break on exception" mode enabled.  These features permit you to halt execution at the step that caused the exception even if the statement is within the scope of a Try...Catch.

    -1: Break on any exception. Works the same as the GDE menu pull-down.
    -2: Error on any exception. Breaks like mode -1 but additionally posts the error information to the system error log.

If non-zero, specifies the number of the digital output signal that is set to TRUE at the start of each trajectory cycle and FALSE at the end of the cycle. Used primarily for testing.

(Servo Network) This is the communications latency, in nanoseconds, between the master controller and this controller. Only valid for slave controllers. Filled in automatically as the network protocol starts. May be temporarily overridden.

(Servo Network) This is an array containing information about clock synchronization between the master controller and the local controller, and message traffic between the two units. These values may be data-logged to analyze the Servo Network performance. The array elements are as follows:

    1. Most recent clock delta (difference in synchronization) value, in nanoseconds
    2. Average clock delta value, in nanoseconds.
    3. Internal clock correction count. Each count is 125 nanoseconds.
    4. The total number of synchronous command packets received by a slave node, or synchronous status packets received by the master node.
    5. The total number of synchronous command packets missed by a slave node, or synchronous status packets missed by the master node, as indicated by the packet sequence numbers.
    6. The time in nanoseconds between the last two synchronous command packets (i.e. setpoint messages from the master).
    7. The number of times the network has been restarted since boot up.
    8. The number of times the synchronous command packet timestamp did not match the received value.

Only elements 4 and 5 are valid on the master controller.

(Servo Network) The number of nanoseconds between that last two status packets received by the master from a slave node. The array index is the slave node number. Only valid if DataID 300 bit mask &H40 is set.

Set to the last error code that caused the robot to exit from automatic mode or prevented automatic mode from being entered.  The error may be a standard error that caused robot power to be disabled or may be a soft error that did not disable power. Users can initialize this parameter to zero so that a program or the datalogger can trap the next error that aborts robot motions by detecting that this parameter has been set to a non-zero (typically negative) value.

Defines the number of previous error messages that are retained in the system error log.  The size of this buffer does not affect the system performance, but does affect the memory allocated for the error log and does affect the time needed to display all of the entries in the log.  By default, the error log contains 512 entries.

An array of system error message strings that correspond to various error conditions. Empty if there is no corresponding error.

   1. The first error during system initialization.
   2. The last error that caused the robot to exit from automatic mode or prevented automatic mode from being entered.  Matches the error code set in DataID 320 by the system.
   3. Safety Check error. The last error set by the power supply safety check, if supported by this controller.

The name and path of a file that receives the system error log data as it is generated. This facility is intended for use with the optional /NVRAM device. May also be used with /ROMDISK. It is NOT recommended that /flash or /TFTP be used with this feature.

For example to use 2.5k of the NVRAM to log all errors generated by the system, this DataID should be set to

        "/NVRAM/file1 -size 2500 -wrap".

The non-device specific software switches that are recognized by this feature are:

   "-text" - If specified, includes the full text string for error messages.
   "-msg" - If specified, includes messages from the Controller.SystemMessage method.

By default, -text and -msg are off to minimize the size of the stored messages.

A string containing the IP address of the client currently connected to the GDE editor port (1402). Empty if no connection.

Each of these DataID's presents an array of values, one value for each node in the Servo Network.  These arrays permit diagnostic values in networked nodes to be read, written and logged on the master.  The array values are index by the Servo Network node number.

These parameters are used internally by system programs for diagnostics purposes and utilities. They should not be used by application programs.

These parameters are used internally by system programs for diagnostics and utilities. They should not be used by application programs.