Diagnostics

This page describes system diagnostics that are available in G2

Diagnostic Groups

The following diagnostic groups can be enabled at compile time. The main use of these groups is to include them in status reports for planner diagnostics.

Group	Tokens	Notes
_te	x y x a b c	target endpoint (in work space, i.e. axis coordinates)
_tr	x y x a b c	target runtime (in work space)
_ts	1 2 3 4 5 6	target steps (in joint space, i.e. motor steps)
_ps	1 2 3 4 5 6	position_steps
_cs	1 2 3 4 5 6	commanded steps (delayed)
_es	1 2 3 4 5 6	encoder_steps (measured)
_fe	1 2 3 4 5 6	following_error (as read by encoders)
_xs	1 2 3 4 5 6	corrected_steps (cumulative correction applied)