MS2000 or RM2000 syntax

Shortcut	DU
Format	DUMP [X][Y][F][R=mode][T=interval]
Units	None

Tiger syntax

Shortcut	DU
Format	[addr#]DUMP [X][Y][F][R=mode][T=interval]
Units	None
Type	Card-Addressed

Dump internal buffers to serial output.

The size of the dump buffer is reduced if the RING BUFFER firmware module is included in the build.

The Tiger and MS-2000 controller has several built-in diagnostic capabilities that are useful for troubleshooting difficulties. It is often useful to see how well the servo motion is tracking the theoretical trajectory. The controller has a built-in buffer that can hold 200 to 500 move steps. For best results, restrict testing to a single axis at a time; otherwise information from multiple axes will be interleaved in the dump buffer. Any motion from any axis will write information into the dump buffer until it is full.

No Arguments: DU dumps the Trajectory Buffer.

X: DU X clears the trajectory buffer and error buffer.

Y: DU Y dumps the Error Buffer. See Error Codes for MS2000, RM2000 and TG-1000 Diagnostics.

F: DU F Prints controller log, it has information like the total time the controller was on, the total distance the XY stage has traveled and others. The log first has to be initialized with command DU F=999. This is done in the factory, and we suggest users not reset the log as it may wipe data that is useful for later reliability tracing.

Tiger v3.19 or MS-2000 v9.54 required
R: DU R=mode sets the trajectory buffer mode. Mode 0 (default) means the trajectory buffer, once full, will not be changed further. Mode 1 continuously overwrites the trajectory buffer information so that the most recent move information is always present.

Tiger v3.19 or MS-2000 v9.54 required
T: DU T=interval sets the sampling interval for the trajectory buffer. Default is 1 which adds to the trajectory buffer on every axis loop. Setting to e.g. 10 will add to the buffer once and then skip the next 9 axis loops. Handy for looking at longer-term trends. The axis loop time can be queried with the INFO command, there is a Servo Lp Time entry.

Tiger Example

1DU X Clears the dump buffers on Card 1
Then make a short move, e.g.: M X=12345 [Moves about 1.23 mm]
After the move is complete, you can dump the buffer to the screen:
1DU Dumps Trajectory Buffer on Card 1
2DU Y Dumps Error Buffer on Card 2
4DU F Dumps Card 4's Piezo History
4DU F=999 Resets Card 4's Piezo History

2DU Y
Adr:2:ZF
       0       0       0       0       0       0       
0       0       0       0       0       0       0       
0       0       0       0       0       0       0       
0       0       0       0       0       0       0       
0       0       0       0       0       0       0      
0       0       0       0       0       0       0
0       0       0       0       0       0       0
0       0       0       0       0       0       0
0       0       0       0       0       0       0
0       0

MS2000 Example

DU X Clears the dump buffers
Then make a short move, e.g.: M X=12345 [Moves about 1.23 mm]
After the move is complete, you can dump the buffer to the screen:
DU Dumps Trajectory Buffer
DU Y Dumps Error Buffer
DU F Dumps Piezo History
DU F=999 Resets Piezo History

DU Y
       0       0       0       0       0       0       
0       0       0       0       0       0       0       
0       0       0       0       0       0       0       
0       0       0       0       0       0       0       
0       0       0       0       0       0       0      
0       0       0       0       0       0       0
0       0       0       0       0       0       0
0       0       0       0       0       0       0
0       0       0       0       0       0       0
0       0