Hi all, I'm trying to define a new Tracedef XML file for the Oscilloscope tool, in order to generate the trace of the 6 axes (in radians) at a given rate. This is the file I'm using:
<?xml version="1.0" encoding="utf-8"?>
<Trace xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<Time>120</Time>
<PreTrigger>100</PreTrigger>
<Basename>KRC_MyTrace</Basename>
<Modules>
<Module>
<Name>KRCIpo</Name>
<Rate>12000</Rate>
<Channel>43</Channel>
<Channel>44</Channel>
<Channel>45</Channel>
<Channel>46</Channel>
<Channel>47</Channel>
<Channel>48</Channel>
</Module>
</Modules>
<Trigger>
<ModuleName>KRCIpo</ModuleName>
<ID>0</ID>
</Trigger>
</Trace>
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Channels 43 to 48 are IPO_ActualValues for the 6 axes (I suppose it's what I need).
Now, I know that you can either start/stop the trace by code or by the relative buttons inside the Oscilloscope configuration menu, but there is that "Time" tag set at 120 (seconds), how does it influence the trace?
Then, there is the "Rate" at 12000, it could mean 12000 samples per second, but if I try to lower it (e.g. 1200, or even 60 which is the rate I would obtain) the trace fails with an error. Am I misinterpreting this value?
Finally, the pretrigger (%), I suppose it's a way to send the trigger and start a bit earlier the trace, it's at 100% by default, but 100% of what?
Note that I can get the trace with that tracedef, and I can also plot them in matlab and the result is visually compatible with the motion of the robot during the trace, I just don't get how I could customize those three settings.
Thank you in advance