Collecting Data

Use Data Collection to collect a set of time-series data in a real-time, deterministic way. You can look at plots of data that were collected from the controller in the Data Visualizer module.

Data collection occurs in real time, and the intervals between samples in one data collection instance are deterministic. The time between when data collection starts and when the first data point occurs, and the time between when the last data point is collected and when data collection stops is not completely deterministic. This is because start and stop operations occur from a non-real-time thread and have a variability of 10 milliseconds or more. You can collect only one set of data at a time on an Automation1 controller.

You can collect data by using the concepts that follow:

• Data Visualizer Module
• Application Data Collection Functions
• Data Collection Functions
• Motion Health®
• All of the Automation1 APIs

The pieces of information that you collect are called data signals. Data signals can be in the axis, task, or system category. All data signals are double-precision floating-point numbers. Some data signals represent enumerations or masks. Data signals include axis positions, axis-homed states, axis faults, I/O values, task states, task errors, and more.

The signals are collected from the drive at a slower rate than signals collected from the SMC because of the communication delay time with the drive. You can use the DriveMotionDelay axis status item to determine the delay time between the SMC signals and drive signals. Because virtual drives are emulated by the SMC without physical hardware, they have no communication delay.

Use the Data Visualizer Module to Collect Data

Use the Data Visualizer module to configure, collect, and look at data from the controller and also set the rate at which data collection occurs. You can also save, open, and look at plot files. To use the condensed version of this module in the Develop workspace, see Data Visualizer Module. To use the larger version of this module in the Visualize workspace, see Visualize Workspace. Refer to the pages that follow for more information:

• 1D Data Collection - includes procedures for how to configure and collect 1D (one-dimensional) data signals in the Data Visualizer module.
• 2D Data Collection - includes procedures for how to configure and collect 2D (two-dimensional) data signals in the Data Visualizer module.
• 3D Data Collection - includes procedures for how to configure and collect 3D (three-dimensional) data signals in the Data Visualizer module.

Data Collection Functions

Use the DataCollection*() functions to collect and write sampled data from an AeroScript program or library without using the Data Visualizer module. The plots that result are .dat files. The .dat file is a text file that uses ASCII characters to show the data that you collected. Position values are given in counts, and time values are given as seconds. The .dat file format is compatible with the Data Visualizer module. You can collect many types of data and specify the sample time at which the commands collect data.

Configure Data Collection

Use the DataCollectionAdd*Signal() functions to configure the items for which data should be collected. When you add an item to data collection, you can use the DataCollectionStart() function to collect data. You can start and stop data collection from any task after it is configured. Use the DataCollectionReset() function to remove all the configured items from data collection.

Configure Axis Signals

Use the functions that follow to configure the axis signals to collect for data collection.

enum AxisDataSignal

enum AxisDataSignal    PositionFeedback = 0    PositionCommand = 1    PositionError = 2    VelocityFeedback = 3    VelocityCommand = 4    VelocityError = 5    AccelerationCommand = 6    CurrentFeedback = 7    CurrentCommand = 8    CurrentError = 9    AnalogInput0 = 10    AnalogInput1 = 11    PositionCommandRaw = 12    VelocityCommandRaw = 13    AuxiliaryFeedback = 14    DigitalInput = 15    DigitalOutput = 16    WorkOffsetValue = 18    PhaseACurrentFeedback = 19    PhaseBCurrentFeedback = 20    EncoderSine = 21    EncoderCosine = 22    AnalogInput2 = 23    AnalogInput3 = 24    FrequencyResponseBefore = 25    FrequencyResponseAfter = 26    AnalogOutput0 = 31    AnalogOutput1 = 32    AnalogOutput2 = 33    AnalogOutput3 = 34    DriveMemoryInt32 = 35    DriveMemoryFloat = 36    DriveMemoryDouble = 37    PsoStatus = 38    DriveTimerDebug = 39    CoordinatedPositionTarget = 41    DriveStatus = 42    AxisStatus = 43    AxisFault = 44    AccelerationCommandRaw = 45    PositionCalibrationAll = 50    PositionFeedbackRollover = 63    PositionCommandRollover = 64    VelocityFeedbackAverage = 65    CurrentFeedbackAverage = 66    AxisParameter = 68    Backlash = 72    HomeState = 73    PositionCalibration2D = 74    NormalcyDebug = 75    TotalMoveTime = 76    PositionFeedbackDrive = 77    JerkCommandRaw = 78    ProgramPositionCommand = 79    PositionOffset = 80    PositionCommandRawBackwardsDiff = 82    VelocityCommandRawBackwardsDiffDelta = 83    PositionCommandDrive = 84    DriveStatusActual = 85    WorkOffsetIndex = 88    ProgramPositionFeedback = 89    JogTrajectoryStatus = 94    PingTest = 95    AccelerationTime = 109    DecelerationTime = 110    AccelerationRate = 111    DecelerationRate = 112    AccelerationType = 113    DecelerationType = 114    AccelerationMode = 115    DecelerationMode = 116    ProgramPosition = 124    DriveMemoryInt16 = 125    DriveMemoryInt8 = 126    SpeedTarget = 128    PositionCommandPacket = 131    DriveSmcMotionState = 132    PositionCommandRawCal = 140    VelocityCommandRawCal = 141    VelocityCommandDrive = 142    AccelerationCommandDrive = 143    GalvoLaserOutputRaw = 144    DriveInterfacePacketInt32 = 147    DriveInterfacePacketInt16 = 148    DriveInterfacePacketInt8 = 149    DriveInterfacePacketDouble = 150    DriveInterfacePacketFloat = 151    DriveInterfaceCommandCode = 152    AccelerationFeedback = 153    AccelerationCommandRawCal = 154    PositionCalibrationAllDrive = 155    BacklashTarget = 156    DriveMotionRate = 158    DriveMotionDelay = 159    CalibrationAdjustmentValue = 160    ServoRounding = 161    ServoLoopFeedforwardControlEffortRaw = 162    DriveInterfacePacketInfoBitValue = 164    AccelerationError = 165    SuppressedFaults = 167    DriveInterfacePacketStreamingData = 168    PositionCommandRawUnfiltered = 169    TransitionOffsetErrors = 170    PsoCounter0 = 171    PsoCounter1 = 172    PsoCounter2 = 173    PsoWindow0 = 174    PsoWindow1 = 175    DriveDataCaptureSamples = 176    PositionCommandGalvo = 178    FreezeVelocityCommand = 179    FreezeVelocityFeedback = 180    InternalPositionOffsets = 181    StatusHighLevelOffsetsLastMsec = 182    ProgramVelocityCommand = 183    ProgramVelocityFeedback = 184    DriveMotionDelayLive = 185    DriveCommunicationDelay = 186    DriveCommunicationDelayLive = 187    DriveInterfacePacketResponseInt32 = 189    DriveInterfacePacketResponseInt16 = 190    DriveInterfacePacketResponseInt8 = 191    DriveInterfacePacketResponseDouble = 192    DriveInterfacePacketResponseFloat = 193    DriveInterfacePacketBit = 194    DriveInterfacePacketResponseBit = 195    SpeedTargetActual = 196    PrimaryEnDatAbsolutePosition = 197    CoordinatedDistanceRemaining = 199    ServoLoopControlEffort = 201    PhaseAVoltageCommand = 208    PhaseBVoltageCommand = 209    PhaseCVoltageCommand = 210    AmplifierPeakCurrent = 211    FpgaVersion = 212    DriveTypeId = 213    PsoWindow0ArrayIndex = 214    PsoWindow1ArrayIndex = 215    PsoDistanceArrayIndex = 216    AmplifierTemperature = 217    PsoBitArrayIndex = 218    MxAbsolutePosition = 219    ServoUpdateRate = 220    SettlingTime = 221    InternalStatusCode = 222    FirmwareVersionMajor = 223    FirmwareVersionMinor = 224    FirmwareVersionPatch = 225    FirmwareVersionBuild = 226    DriveTimerDebugMax = 227    MarkerSearchDistance = 228    SafeZoneState = 230    PositionFeedbackGalvo = 234    PositionErrorGalvo = 235    LatchedMarkerPosition = 236    MoveReferencePosition = 237    MoveReferenceOffsetCutterRadius = 250    MoveReferenceOffsetCornerRounding = 251    MoveReferenceOffsetTotal = 252    PrimaryBissAbsolutePosition = 255    FaultPositionFeedback = 258    MotorCommutationAngle = 259    ExpansionBoardOption = 260    BusVoltage = 261    PiezoVoltageCommand = 262    PiezoVoltageFeedback = 263    DistanceLog = 264    TimeSinceReset = 273    MaximumVoltage = 274    CommandOutputType = 275    ServoLoopFeedforwardControlEffort = 290    LastTickCounter = 291    BoardRevision = 292    GalvoLaserOutput = 294    GalvoLaserOutputRawAdvance = 296    GalvoLaserOnDelay = 297    GalvoLaserOffDelay = 298    GalvoLaserPowerCorrectionOutput = 299    CapacitanceSensorRawPosition = 300    CalibrationAdjustmentState = 301    AccuracyCorrectionStartingPosition = 302    AccuracyCorrectionEndingPosition = 303    PositionCalibrationGalvo = 304    DriveCommandsDelayed = 309    DriveCommandsLost = 310    BusVoltageNegative = 325    ProcessorTemperature = 326    StoStatus = 327    InternalStatusTimestamp = 328    AnalogSensorInput = 329    MotorTemperature = 330    PrimaryBissStatus = 332    DriveAssert = 336    PsoExternalSyncFrequency = 337    EncoderSineRaw = 346    EncoderCosineRaw = 347    FpgaTemperature = 353    PrimaryEnDatStatus = 355    DriveTimerHighPriorityThread = 356    DriveTimerLowPriorityThread = 357    DriveTimerLowPriorityPacket = 358    DriveTimerServoPacket = 359    DriveTimerServoThread = 360    DriveTimerCurrentPacket = 361    DriveTimerCommonCoreThread = 362    DriveTimerServoCorePacket = 363    MultiplierOption = 365    PrimaryFeedback = 366    ServoLoopFeedbackInput0 = 367    ServoLoopFeedbackInput1 = 368    AccelerationSCurvePercentage = 371    DecelerationSCurvePercentage = 372    FaultSubcode = 376    ProcessorTemperatureMax = 378    DriveTimerHyperWireDma = 381    AmplifierTemperatureMax = 382    AuxiliaryEnDatAbsolutePosition = 383    AuxiliaryEnDatStatus = 384    AuxiliaryBissAbsolutePosition = 385    AuxiliaryBissStatus = 386    PsoOption = 387    DriveArraySize = 388    RatedMotorSupplyVoltageOption = 389    GantryMarkerDifference = 390    AbsoluteEncoderOption = 391    PrimaryFeedbackStatus = 392    AuxiliaryFeedbackStatus = 393    AmplifierStatus = 394    LatchedCwLimitPosition = 395    LatchedCcwLimitPosition = 396    GalvoLaserFpgaTransitionDelay = 397    HomeTargetPosition = 398    GantryRealignmentMoveTargetPosition = 399    GantryDriveControlRealignmentState = 400    PiezoAccumulatedCharge = 401    PiezoChargingTime = 402    PrimarySsiAbsolutePosition = 403    PrimarySsiStatus = 404    AuxiliarySsiAbsolutePosition = 405    AuxiliarySsiStatus = 406    PsoDistanceActiveDistance = 407    PsoWindow0ActiveLowerBound = 408    PsoWindow0ActiveUpperBound = 409    PsoWindow1ActiveLowerBound = 410    PsoWindow1ActiveUpperBound = 411    PsoWaveformActiveTotalTime = 412    PsoWaveformActiveOnTime = 413    PsoWaveformActivePulseCount = 414    PsoEventActiveBitValue = 415    DriveTimerDriveBasedControllerOutputDma = 419    DriveTimerPcieInboundFsm = 420    PrimaryFeedbackServo = 425    AuxiliaryFeedbackServo = 426    DriveStackUsage = 427    DriveInterfacePositionCommandPhysical = 434    DriveControlReason = 435    ShuntResistorTemperature = 436    SyncPortAPosition = 444    SyncPortBPosition = 445    HighSpeedOutputEncoderPosition = 446    AuxiliaryEncoderOutputPosition = 447    SyncPortAStatus = 448    SyncPortBStatus = 449    HighSpeedOutputEncoderStatus = 450    AuxiliaryEncoderOutputStatus = 451    DriveMemoryUInt32 = 454    DriveMemoryUInt16 = 455    DriveMemoryUInt8 = 456    CurrentLoopFeedbackControlEffort = 458    CurrentLoopFeedforwardControlEffort = 459    HighSpeedInput = 460    PositionCommandEncoder = 461    PositionFeedbackEncoder = 462    ServoLoopFeedbackControlEffort = 463    AnalogOutputHardwareStatus = 464    DigitalOutputHardwareStatus = 465    EnhancedScannerControlOption = 466    AnalogOutput4 = 467    AnalogOutput5 = 468    MoveReferenceOffsetCutterOffset = 471 end

Configure Task Signals

Use the functions that follow to configure the task signals to collect for data collection.

enum TaskDataSignal

enum TaskDataSignal    ProgramLineNumber = 17    CoordinatedFlags = 40    CoordinatedArcStartAngle = 53    CoordinatedArcEndAngle = 54    CoordinatedArcRadius = 55    CoordinatedArcRadiusError = 56    CoordinatedPositionCommand = 57    CoordinatedSpeedCommand = 58    CoordinatedAccelerationCommand = 59    CoordinatedTotalDistance = 60    CoordinatedPercentDone = 61    CoordinatedPositionCommandBackwardsDiff = 62    TaskParameter = 69    TaskError = 70    TaskWarning = 71    CoordinatedSpeedTargetActual = 86    DependentCoordinatedSpeedTargetActual = 87    TaskStatus0 = 90    TaskStatus1 = 91    TaskStatus2 = 92    SpindleSpeedTarget = 93    CoordinateSystem1I = 96    CoordinateSystem1J = 97    CoordinateSystem1K = 98    CoordinateSystem1Plane = 99    Mfo = 101    CoordinatedSpeedTarget = 102    DependentCoordinatedSpeedTarget = 103    CoordinatedAccelerationRate = 104    CoordinatedDecelerationRate = 105    CoordinatedAccelerationTime = 106    CoordinatedDecelerationTime = 107    TaskMode = 108    TaskState = 117    TaskStateInternal = 118    ExecutionMode = 121    EnableAlignmentAxes = 127    CoordinatedGalvoLaserOutput = 133    CoordinatedMotionRate = 145    CoordinatedTaskCommand = 146    EnableState = 166    LookaheadMovesExamined = 200    ProfileControlMask = 231    CoordinatedArcRadiusReciprocal = 253    MotionEngineStage = 254    CoordinatedTimeScale = 256    CoordinatedTimeScaleDerivative = 257    IfovSpeedScale = 266    IfovSpeedScaleAverage = 267    IfovGenerationFrameCounter = 268    IfovGenerationTimeOriginal = 269    IfovGenerationTimeModified = 270    IfovCoordinatedPositionCommand = 271    IfovCoordinatedSpeedCommand = 272    IfovCenterPointH = 276    IfovCenterPointV = 277    IfovTrajectoryCount = 278    IfovTrajectoryIndex = 279    IfovAttemptCode = 280    IfovGenerationFrameIndex = 281    IfovMaximumVelocity = 282    IfovIdealVelocity = 283    TaskInternalDebug = 284    IfovCoordinatedAccelerationCommand = 285    IfovFovPositionH = 286    IfovFovPositionV = 287    IfovFovDimensionH = 288    IfovFovDimensionV = 289    MotionBufferElements = 311    MotionBufferMoves = 312    MotionLineNumber = 313    MotionBufferRetraceMoves = 314    MotionBufferRetraceElements = 315    MotionBufferIndex = 316    MotionBufferIndexLookahead = 317    MotionBufferProcessingBlocked = 318    ActiveMoveValid = 319    TaskExecutionLines = 320    SchedulerTaskHolds = 321    SchedulerProgramLoopRuns = 322    SchedulerTaskBlocked = 323    CriticalSectionsActive = 324    AxesSlowdownReason = 331    TaskExecutionTime = 333    TaskExecutionTimeMaximum = 334    TaskExecutionLinesMaximum = 335    LookaheadDecelReason = 338    LookaheadDecelMoves = 339    LookaheadDecelDistance = 340    ProgramCounter = 341    StackPointer = 342    FramePointer = 343    StringStackPointer = 344    ProgramLineNumberSourceFileId = 349    MotionLineNumberSourceFileId = 350    ProgramLineNumberSourcePathId = 351    MotionLineNumberSourcePathId = 352    StringArgumentStackPointer = 354    CoordinatedAccelerationSCurvePercentage = 369    CoordinatedDecelerationSCurvePercentage = 370    DependentCoordinatedAccelerationRate = 373    DependentCoordinatedDecelerationRate = 374    CriticalSectionTimeout = 375    CommandQueueCapacity = 421    CommandQueueUnexecutedCount = 422    CommandQueueTimesEmptied = 423    CommandQueueExecutedCount = 424    CommandQueueLineNumber = 452    TaskReal = 469    TaskInteger = 470 end

Configure System Signals

Use the functions that follow to configure the system signals to collect for data collection.

enum SystemDataSignal

enum SystemDataSignal    VirtualBinaryInput = 46    VirtualBinaryOutput = 47    VirtualRegisterInput = 48    VirtualRegisterOutput = 49    Timer = 51    TimerPerformance = 52    GlobalReal = 67    CommunicationRealTimeErrors = 81    LibraryCommand = 119    DataCollectionSampleTime = 120    DataCollectionSampleIndex = 129    ModbusClientConnected = 134    ModbusServerConnected = 135    ModbusClientError = 136    ModbusServerError = 137    StopWatchTimer = 157    ScopetrigId = 163    EstimatedProcessorUsage = 177    DataCollectionStatus = 188    SignalLogState = 198    SafeZoneViolationMask = 207    SafeZoneActiveMask = 229    ModbusClientInputWords = 240    ModbusClientOutputWords = 241    ModbusClientInputBits = 242    ModbusClientOutputBits = 243    ModbusClientOutputBitsStatus = 244    ModbusClientOutputWordsStatus = 245    ModbusServerInputWords = 246    ModbusServerOutputWords = 247    ModbusServerInputBits = 248    ModbusServerOutputBits = 249    SystemParameter = 265    ThermoCompSensorTemperature = 305    ThermoCompControllingTemperature = 306    ThermoCompCompensatingTemperature = 307    ThermoCompStatus = 308    GlobalInteger = 345    AliveAxesMask = 348    SignalLogPointsStored = 377    ControllerInitializationWarning = 379    StopWatchTimerMin = 416    StopWatchTimerMax = 417    StopWatchTimerAvg = 418    EthercatEnabled = 428    EthercatError = 429    EthercatTxPdo = 430    EthercatTxPdoSize = 431    EthercatRxPdo = 432    EthercatRxPdoSize = 433    EthercatState = 437    ModbusClientEnabled = 438    ModbusServerEnabled = 439    HyperWireExternalSynchronizationActive = 440    HyperWireExternalSynchronizationFrequency = 441    HyperWireExternalSynchronizationLagging = 442    HyperWireExternalSynchronizationAdjustmentNanoseconds = 443    CallbackSlotProcessingState = 453    ControllerAssertCount = 457    VirtualBinaryInputBit = 472    VirtualBinaryOutputBit = 473 end

Start and Stop Data Collection

After you have configured data collection, use the function that follows to start data collection. Use the $controllerFileName argument to specify the name and location for the .dat file.

The $numSamples argument specifies the number of samples collected by data collection. The $sampleTime argument specifies the number of milliseconds between each sample that is collected. You can convert a sample frequency to a sample time with the formula that follows.

For example, to collect data with a sample rate of 20 kHz, specify a value of (1.0 / 20.0) or 0.05 for the $sampleTime argument. For more information about sample rates that the controller supports, refer to Data Collection Rates.

You can determine the duration of data collection with the formula that follows.

Use the DataCollectionItems Parameter and the DataCollectionPoints Parameter to configure the amount of controller memory that is available for data collection. To determine how much memory is available for data collection, use the formula that follows.

Memory allocation is necessary for collecting data. If the memory allocation does not complete correctly, a memory allocation error occurs. If memory resources are low, you can decrease the value of the DataCollectionItems parameter and the DataCollectionPoints parameter to release memory for other Automation1 features.

When you issue the DataCollectionStart() function, the controller continues to collect data for the specified number of samples. You can use the DataCollectionStop() function to stop data collection before the controller has collected the specified number of samples.

Data Collection Example

The example that follows shows you how to collect data with the DataCollection*() functions.

Program Example: Using Data Collection Functions

#define DATA_RATE      1.0 // kHz
#define DATA_DURATION  5.0 // seconds

DataCollectionReset()

DataCollectionAddAxisSignal(X, AxisDataSignal.PositionCommand)
DataCollectionAddAxisSignal(X, AxisDataSignal.VelocityCommand)
DataCollectionAddAxisSignal(X, AxisDataSignal.AccelerationCommand)

DataCollectionStart("results.dat", DATA_DURATION * DATA_RATE * 1000.0, 1.0 / DATA_RATE)

Other Ways to Collect Data

Signal Log is a monitoring and diagnostic tool that is included in the Motion Health® module. When enabled, Signal Log continuously collects diagnostic data and monitors the data for Signal Log trigger events. When a Signal Log trigger event occurs, Signal Log automatically saves the diagnostic data to a .dat file. You can open the .dat file in the Data Visualizer module.

You can perform data collection with all of the Automation1 APIs.

You can write an AeroScript program or library that collects information from the controller and then saves the information to a file. You can create a deterministic sample interval of 1 millisecond or multiples of 1 millisecond by issuing the CriticalSectionStart(), CriticalSectionEnd(), and Dwell() functions in a critical section of your program. Refer to the example that follows.

Program Example: Collect Status in a Critical Section and Save Results to a File

var $file as handle
var $values[1000] as real
var $index as integer

CriticalSectionStart()
for $index = 0 to (length($values) - 1)
        $values[$index] = StatusGetAxisItem(@0, AxisStatusItem.PositionCommand)
        Dwell(0.001)
end

$file = FileOpenText("results.dat", FileMode.Overwrite)

for $index = 0 to (length($values) - 1)
        FileTextWriteString($file, RealToString($values[$index]) + "\n")
end

FileClose($file)
CriticalSectionEnd()		

Data Collection Rates

When you configure data collection, you specify a sample time in milliseconds. If you specify a data collection rate of 1 kHz (1 msec) or faster, you must specify one of the values that follow for the sample time:

• 1 msec (1 kHz)

• 0.1 msec (10 kHz)

• 0.05 msec (20 kHz)

• 0.01 msec (100 kHz) This collection rate is available only on the PC-based controller.

• 0.005 msec (200 kHz) This collection rate is available only on the PC-based controller.

Automatically Collected Signals During Data Collection

When collecting data, Studio automatically adds a set of signals to the data collection configuration for axes that have at least one configured signal. These signals are:

• Position Command

• Position Feedback

• Position Error

• Velocity Command

• Velocity Feedback

• Velocity Error

• Acceleration Command

• Acceleration Error

• Acceleration Feedback

• Current Command

• Current Feedback

• Current Error

• Axis Status

• Drive Status

These signals are only automatically included at data collection rates of 1 kHz or slower. By default, the signals are not visible on the resulting plot. You can display the signals on the plot using the Edit Plot dialog and clicking the Visibility icon next to the signal.

Data Collection Limitations

• The rate of Data Collection is limited to the servo loop update rate of the drive associated with that axis. Refer to the hardware manual for your drive to find the servo loop update rate.

• If you collect data on a virtual axis, make sure that the data collection rate is 1 kHz or slower. Virtual axes do not support collecting some signals at rates greater than 1 kHz.

• If the controller finds an error during data collection, some data signals might report NaN (not a number).

• Make sure that real-time errors do not occur on the controller during data collection. Real-time errors can also cause signals to report as NaN. You can review real-time errors by retrieving the Communication Real Time Errors system status item or in the Controller tab of the Status Utility.

Data Collection Status

To get information about data collection, use the status items that follow:

• Data Collection Sample Time
• Data Collection Sample Index
• Data Collection Status
• Scopetrig Id

Use the Automation1 Status Utility to see Data Collection status on the Data Collection tab.

Figure: Automation1 Status Utility - Data Collection Tab