Test Signal Viewer

Test Signal Viewer
Getting started ...................................................................................................... 3

Define Test Signals .......................................................................................... 3
Data logging ............................................................................................. 4
Basic plot handling ................................................................................... 4
Stop logging............................................................................................... 5
Using the lower plot area........................................................................... 5
Change data logging speed....................................................................... 5
Removing defined test signals................................................................... 5
Parameter settings ................................................................................... 5
Export data ............................................................................................... 6
Reference manual ........................................................................................... 6
Menu functions ......................................................................................... 6
Plot handling ............................................................................................. 7
Trig function .............................................................................................. 10
Comments ................................................................................................. 11
Test Signal Viewer
1 Getting started
This section describes the basic functionality of the Test Signal Viewer-software.
Configuration
◆ In the Config menu, choose Remote Server Settings. Enter IP address of the
remote machine (the robot) in the IP Address field. The port number should always
be 4011.
Connection
◆ In the Commands menu, choose Connect. The green Connected light is lit when
connection works.
1.1 Define Test Signals

◆ In the Commands menu, choose Define Test Signal.
◆ Enter name of Mechanical Unit.

◆ Select channel number (1-12).
◆ Select Signal identifier in list (see below) or by entering code manually. The radio
button to the left must be changed first.
◆ Select Axis number (1-6).

◆ Enter sample time in ms (0,00 corresponds to fastest sampling rate, i.e. 0.504 ms).
The actual sample time is adjusted to the nearest multiple of the fastest rate.
◆ Press Apply. A new channel can now be defined.
◆ When all desired channels have been defined, press OK.
Note: The sample time affects only how the signals are handled in the controller. In the
TestSignalViewer all data is padded to correspond to the fastest possible sampling
rate.
1.2 Data logging

When the desired channels have been defined data logging can be started by pressing
.
◆ Choose which channels to log and press OK to begin the logging.
1.2.1 Basic plot handling

Both plot areas can be manipulated using the tool below each area:
The buttons marked X and Y each adjust the axis interval to the present signal sizes. It
is also possible to manually set the interval ends by marking the number and type the
desired value.The button can be locked in pressed position by clicking the handle to
the left of the button. When the button is locked the axis interval is automatically
adjusted and it is not possible to change values manually.
Test Signal Viewer
1.2.2 Stop logging
Logging is stopped by pressing
1.2.3 Using the lower plot area

After logging in standard plot mode,
the button can be used to copy the momentarily plot of the upper
plot area to the lower where it can be examined in detail by using the different
zooming and scaling tools, especially the line following function. The lower plot
area is also useful for comparing two different events since it can be used to store
an interesting plot and start another in the upper area. The lower plot area is cleared
by pressing the button
1.2.4 Change data logging speed

The interval in which the samples are logged can be changed in the list in the upper
right corner of the window.
1.3 Removing defined test signals

One or all test signal channels can be removed using Remove One Test Signal and
Remove All Test Signals in the Command menu respectively.
1.4 Parameter settings

A number of settings can be made for each channel using Set Offset, Scale and
Lowpass Filter in the Config menu.
◆ Offset moves the zero level of the signal up or down according to the value set.
◆ Scale multiplies the signal with the value set.
◆ Lowpass Filter Freq. defines the cut frequency of the lowpass filter.
1.5 Export data

After the logging has been stopped, an export of the present buffer can be made to a
text file by choosing Export Log in the File menu.
Test Signal Viewer
2 Reference manual
This chapter contains a description of all the choices in the menus and guides to
some of the features that are not described in the program overview above.
Note ! All necessary settings, for instance choice of plot-mode, must be made
before the logging is started.
2.1 Menu functions

Menu: File
Open...
- Loads data that has previously been saved in .dat-format. The signals can
then be studied using the plot-handling tools of the program.
Save Signals...
- Saves data in .dat-format which can be reloaded into the plot window. This
format can not be used to export data usable in other programs.
Printer setup...
- Allows normal configuration of printer and print format.
Print window...
- Prints the main window on an available printer. Can not be used during
logging of data.
Export log
- Creates a file in text-format with data from the logged channels arranged
in columns.
Exit
- Quits Test Signal Viewer.
Menu: Commands
Connect
- Establishes a connection with the remote server defined in Remote Server
Settings.
Disconnect
- Disables the connection with the remote server.
Define Test Signals
- Defines the test signal, axis and mechanical unit that is to be assigned to a
certain channel.
Enumerate All Test Signals
- Lists the test signals that are already defined in the robot. If the desired sig-
nals to log are among them they can be assigned to a channel by marking
them here.
Remove One Test Signal
- Removes the test signal from the specified channel.
Remove All Test Signals
- Removes all test signals.
Menu: Config
Remote Server Settings
- Defines the IP-address of the remote server.
Set Offset, Scale And Lowpass Filter
- Offset moves the zero level of the signal up or down according to the value set.
- Scale multiplies the signal with the value set.
- Lowpass Filter Freq. defines the cut frequency of the lowpass filter.
Set Trig
- Defines the properties of the trigger, i.e. which channel, the level and the slope
to trig from. It is also possible to set a post trig time, i.e. the time from the trig
to the actual stop.
Show Time on X-axis
- When marked, the x-axes in the plot windows are scaled to seconds.
Menu: Test Signal Info
- General information about the defined channels.
Menu: Help
About Test Signal Viewer
- Information about the software.
2.2 Plot handling

Window size
The size of the upper plot area can be changed using the Plot width and the Plot height
buttons in the upper left part of the window. The choice affects both areas, keeping
them equally sized.
Zooming
There are a number of tools available for zooming and magnification of certain parts
Test Signal Viewer
of the plot. The tools are equal for the two plot areas but it is only the upper plot area
that has a scroll bar, making it possible to study the entire plot in the magnified view.
The lower plot area has a plot following function that is described in detail below.
The different magnification choices are shown and described here::
- 1. Magnification of a desired part of the plot.

- 2. Magnification of a desired vertical part of the plot.
- 3. Magnification of a desired horizontal part of the plot.
- 4. Return to the previous magnification level.
- 5. Zoom in.
- 6. Zoom out.
The hand symbol below the magnification glass is used to move around the plot in the
window. The plus-symbol can be used to move around the hair-cross of the line-
following function (see below).
Line manipulation
By clicking somewhere on one of the channel identification lines right of the plot a
line manipulation menu appears. This can be used to change the visual appearance of
the channel, including line width and line colour. One especially useful feature is the
possibility to temporarily hide one channel by assigning a transparent colour, T, in the
colour palette.
The line can be made visible again by giving it another colour.
Line following function
This function is only available in the lower plot area and can be used to locate the
coordinates of a certain point. Two cursors are available and the function is activated
by clicking this area in the bottom of the window:
Clicking the padlock symbol allows the user to determine whether the cursor should
be locked to a plot or free, and which channel it should be associated with. The
haircross symbol left of the padlock is used to determine the visual appearance of the
cursor. Clicking one of the white boxes activates that cursor, making it possible to
move it with the left/right-arrows to the right. Both cursors can be active
simultaneously and they can be deactivated by clicking the box again. The values of
the x- and y-coordinates are displayed in the two boxes in the middle and it is also
possible to move to a desired point by typing a value in the box.
The up/down-arrows to the right can be used to change which channel the active
cursor is associated with, moving up or down the list of channels in the padlock menu.
Plot Min & Max
This function uses the lower plot area to plot the highest and lowest value within an
interval set using the button:
Note ! Remember to set the Plot mode-handle in Min/max position before starting
Test Signal Viewer
the log, as shown below.
2.3 Trig function

Using the trig-function it is possible to stop the logging a desired time after a
certain event has occurred. This might be useful if a specific behaviour is to be
observed.
Set Trig in the Config menu is used to define the properties of the trig, i.e. which
channel, slope and level to trig on and a possible post trig time.
After the properties have been set, the trigging is activated by pressing the button
marked Enable trig, changing its label to Disable trig. When activated, the logging
is stopped when the conditions defined in the Set Trig window are met. The trig
can be deactivated by pressing the button again.
After the trigged stop, the data of the upper plot data is copied to the lower plot
area.
Note ! Before starting a logg where the trig is to be used, remember to set the
Plot mode-handle in trig-mode, as shown below.
Test Signal Viewer
2.4 Comments
In the white area in the upper part of the screen it is possible to add information
about the present plots before printing it.

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Test Signal Viewer

Getting started ...................................................................................................... 3

1.1 Define Test Signals

◆ Enter name of Mechanical Unit.

◆ Select Axis number (1-6).

1.2 Data logging

1.2.1 Basic plot handling

1.2.2 Stop logging

Logging is stopped by pressing

1.2.3 Using the lower plot area

1.2.4 Change data logging speed

1.3 Removing defined test signals

1.4 Parameter settings

1.5 Export data

2.1 Menu functions

2.2 Plot handling

- 1. Magnification of a desired part of the plot.

the log, as shown below.

2.3 Trig function

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