7 Debugging
7.1 Debugging Environment
7-1
HW1484528
HW1484528
7 Debugging
7.1 Debugging Environment
For the debugging environment, connect the PC for development with the
RUN-TIME debugger of the controller OS via Telnet. Then you can insert
printf() or puts() in the application source code to display the messages
about variable and program execution states when debugging.
Delete all the debugging codes described in the source
code after completing debugging. Otherwise, the process-
ing time of printf() and puts() may affect the system and may
cause insufficient processing time, etc. during robot opera-
tion.
With the Telnet function, debug only the tasks with normal
priority. For debugging the tasks with high priority (the tasks
started with the task priority: MP_PRI_IO_CLK_TAKE,
MP_PRI_IP_CLK_TAKE, or MP_TIME_CRITICAL, or the
task “mpUsrRoot”), use the variables of the YRC1000micro.
This is because, if printf() or puts() is done with a high prior-
ity task, the processing time for the robot operation control
is consumed, and a system alarm may occur due to insuffi-
cient processing time.
When programming in C language, the pointer variable
which stores the memory address can be used. If the
pointer variable is set incorrectly, the system memory area
may be rewritten.
If the system memory area is rewritten, critical problems
occur, e.g., the software hangs up (the hang-up status is
detected by a CPU exception or the watchdog check func-
tion, then the servo power turns OFF and the system shuts
down), the robot stops its operation due to an alarm, or the
programming pendant becomes inoperable.
If the system memory operation is incorrect, the application
itself may not operate as it is designed. Thus, by testing
adequately, the error location can be found. Check the
functions of the application software well enough, and make
sure that all functions operate as designed.
When using the SHELL debugging function of the controller
OS which becomes available by connecting with the
YRC1000micro via Telnet, a system alarm may occur due to
insufficient processing time for robot operation. Do NOT
use the SHELL debugging function.
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