From a54ed905b94d57ecabd1ac580a7596386770d634 Mon Sep 17 00:00:00 2001
From: antcsny <131650489+antcsny@users.noreply.github.com>
Date: Tue, 28 May 2024 16:06:36 +0200
Subject: [PATCH] Fix stop trace and documentation
---
README.md | 38 +++++++++++++++++++++++++++++++-------
kuka/reader.py | 8 ++++----
2 files changed, 35 insertions(+), 11 deletions(-)
diff --git a/README.md b/README.md
index 944d4cf..a40b744 100644
--- a/README.md
+++ b/README.md
@@ -6,23 +6,37 @@ the KUKA Trace module.
-For each of the 6 motors, the following variables are measured:
+For each of the 6 motors, the following variables are measured by system variables:
- Position
- Torque
- Current draw
- Temperature
-This program tries to collect the data in real time. The main latency factor is
-the network quality. An ethernet connection is preffered over Wi-Fi. The data
+This collects the data in real time with system variables. The main latency factor is
+the network quality, so an ethernet connection is preffered over Wi-Fi. The data
is buffered on the robot side but has a hard-coded limit of 20000 samples.
The sampling rate has to be configured in accordance of the length of an
acquisition and with the network connection quality.
+Besides the system variables, the robot controler can measure the traces of the robot.
+It is a way intended by KUKA to recover data from the robot, that can measure the folowwing variables :
+- Position : Command, measured, error
+- Velocity error
+- Torque
+- Temperature
+- Current
+
+At the end of a measure sequence, tha traces are recovered from the network and saved in local to bea accessible.
+KUKA Traces data is in binary format (.r64), with .dat, .trc and .txt associated.
+Each motor has it's own file in that format, python will convert all the files and concatenate them to
+return a readable file, as excel or csv. Note that you have to setup the network access to the robot
+controler before launching this program to be able to recover the traces.
+
The data is acquired from a full-range motion of a motor. Each motor moves
independently from each other.
-The data collected by the program can be found in the data folder,
-each data file having an explicit name with the date of the colelction
+The data collected by the program can be found in the /data folder,
+each data file having an explicit name with the date of the collection
and details on the configuration.
**Example** :
@@ -33,10 +47,20 @@ and details on the configuration.
**NB** : _The file obtained using KUKA Trace has a `_TRACE` suffix_
+## Measure Sequence
+
+A measure sequence consists of a repetirion of axis movement. The numer of iterations is variable and
+defined by the user before launching the sequence. The speed of the robot can also be modified to test
+the robot movement in diferent stress conditions. As data is recovered in time, this data collector has
+a sampling rate. For the system variables, it varies from 12 to 60 milliseconds by a step of 12, the minimum
+of time the KRL program can measure from internal timers.
+KUKA traces provide a sampling rate from 1, 4 and 12ms, but oly the two last ones are implemented in this code
+Traces time sampling is more reliable than global variables.
+
Summary
---
-- [UI Description](#ui-description)
+- [UI Description and details](#ui-description-and-details)
- [Collection settings](#collection-settings)
- [KUKA traces](#kuka-traces)
- [Robots loads](#robots-loads)
@@ -50,7 +74,7 @@ Summary
- [KUKA Trace Configuration](#kuka-trace-configuration)
- The `Axis_Main.src` program
-## UI Description
+## UI Description and details
The User interface is divided in 6 functions.
diff --git a/kuka/reader.py b/kuka/reader.py
index 8374db3..d0e3d57 100644
--- a/kuka/reader.py
+++ b/kuka/reader.py
@@ -279,6 +279,9 @@ class KUKA_DataReader:
# Getting our sample
data, self._data_available, self._read_done = self.read(now, load)
+ if self._read_done == 2 and not(trace_stoped): # stop de trace if robot movement done
+ trace_stoped = True
+ self.trace.Trace_Stop()
# Checking if some data is available
if (self._data_available):
@@ -311,10 +314,7 @@ class KUKA_DataReader:
sleep(self.rate/2)
else:
- # Sleeping to wait for the next data to be sampled, stop de trace if robot movement done
- if self._read_done == 2 and not(trace_stoped):
- trace_stoped = True
- self.trace.Trace_Stop()
+ # Sleeping to wait for the next data to be sampled
sleep(self.rate/2)
# Creating a data frame
--
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