Philips CARDIOMD Service Manual page 135

The logging setting is the result of an OR operation on these individual hexadecimal values. For
example, specifying
The X, Y, Z logging only applies to the pertinent motion controller:
X – Linear controller
Y – Linear controller
Z – Rotate controller (Z is an alias for the rotate axis).
If you enable CAN, CANOPEN, and CANREPORT, you get a logging of all activity on the
CANbus that can be seen by this motion controller, with the exception of the CANbus messages
generated by the motion controller itself. Only the rotate controller generates CANbus messages.
To see the messages generated by this motion controller to the PC (PDO's), you must enable
CANPDOS. Alternatively, you can connect the terminal to the linear motion controller and
monitor the traffic on the CANbus from there.
Note. PDO's are only sent when the motion controller state is OPERATIONAL, i.e. when the
acquisition PC has established contact. You can check the state by pressing [Ctrl-Q].
Further useful settings:
MOTION
HANDSET
TRAJECTORY
Commands
Some of the motion controller interface commands are described in detail below. The remaining
commands are only included for software debugging purposes.
Some of the commands are only meaningful for one of the controllers while others can be used
with both controllers.
Command
RDB, WRB, RDW, WRW, RDL,
WRL
PRGAVR
VERAVR
TIME
APOS
TVEL
1MAN0158-H11 04-2005 CSIP Level 1
enables logging of HANDSET and MOTION.
errlog 0x0180
When this mode is enabled, relevant information regarding the motions
controlled by this motion controller are provided, such as motion start and
stop, faults encountered etc. This setting is useful on both controllers. It is the
default setting for the linear motion controller
Displays the hand controller key actions. The setting is only useful for the
rotate motion controller
When this mode is enabled, the different states of the trajectory calculation is
displayed. The setting is only useful on the rotate motion controller (default
setting).
Rotate controller
Direct read/write of the processor memory/registers
Do not use
Used to program the AVR microcontrollers. If this should ever be necessary,
you will receive detailed instructions
Verification of the AVR microcontroller flash memory
The system has a 1-second time tag you can read using this command. The
time restarts when the controller is booted
Rotate:
Reads out (x,y,z) position – x,y in
1/10 mm, z in 1/100 degree
Rotate:
Reads out actual (x,y,z) velocities –
x,y in 1/10 mm/s, z in 1/100 degree
Linear controller
Linear:
Not valid for linear controller
Linear:
Not valid for linear controller
CardioMD Service Manual 5-31
Diagnostics