Diagnostic data

General diagnostic data of the position controller (PC)

The general diagnostic data of the position controller lists the state of the compensation and the last input and output of the compensation of the first 10 axes.

State of the compensation enabled = 1, disabled = 0

In the event of an error the compensation is deactivated immediately and is then disabled.

Registered: The TcCom object was loaded and initialised. Registration takes place with the first #EXTCOMP command executed.

Initialized: The interface of the external compensation is activated and the objects are initialised for communication.

Input: Axis position in 10^-8 mm or 10^-8°

Output: Compensation offset in 10^-8 mm or 10^-8°

Axis-specific diagnostic data of the PC

Active: The compensation values act on the axis.

Last offset: The previous offset in increments.

Actual offset: The current offset in increments.

Next offset: The next offset.

Diff: The offset acceleration in increments.

Example

Diagnostic data

Axis-specific diagnostic data taken from diagdata.txt:

ext_comp.initialized: 1

ext_comp[0].active: 1

ext_comp[0].last_offset: -110901232

ext_comp[0].actual_offset: -110901232

ext_comp[0].next_offset: -110901232

ext_comp[0].offset_delta: 0

ext_comp[0].diff: 0.000000

General diagnostic data:

ext_comp[0].state 1

ext_comp[0].initialized 1

ext_comp[0].registered 1

ext_comp[0].extcomp_input[0] 897556

ext_comp[0].extcomp_output[0] -1503827

ext_comp[0].extcomp_input[1] -1701406850

ext_comp[0].extcomp_output[1] -4149410

ext_comp[0].extcomp_input[2] -1999519487

ext_comp[0].extcomp_output[2] -4234781

ext_comp[0].extcomp_input[3] 3519482

ext_comp[0].extcomp_output[3] -4374686

ext_comp[0].extcomp_input[4] -171975334

ext_comp[0].extcomp_output[4] -2019399

ext_comp[0].extcomp_input[5] 667959

ext_comp[0].extcomp_output[5] 4246058

ext_comp[0].extcomp_input[6] 0

ext_comp[0].extcomp_output[6] 0

ext_comp[0].extcomp_input[7] 0

ext_comp[0].extcomp_output[7] 0

ext_comp[0].extcomp_input[8] 0

ext_comp[0].extcomp_output[8] 0

ext_comp[0].extcomp_input[9] 0

ext_comp[0].extcomp_output[9] 0