Trouble interpreting data from Recorder

Hello RSI,
I’m setting up a simple recorder to record the position of one Yaskawa Sigma7 motor/drive actual position. It’s heavily based on your C# example.

I do RecorderCountSet(1) before any axis/multiaxis creation.

I have set the memory I want to read from as axes.RSIAxisAddressType.RSIAxisAddressTypeACTUAL_POSITION.

Right now when testing the machine is standing still with no commanded movements. For one run the recorded values fluctuates from 3288334336 to 3556769792. I thought ACTUAL_POSITION would give values in user units, but even if it is in counts it is way off when I compare it to the “Primary encoder feedback” in Rapid Setup. I attach a picture of some example output of my recorder compared to what I get from ActualPositionGet().

I checked axes.AddressGet(RSIAxisAddressType.RSIAxisAddressTypeACTUAL_POSITION)) and it evaluates to: 0x000000000d5e7678
I followed this custom trace guide to try to trace adress 0x0d5e7678. But then intime will throw an exception (pictured).

I’m probably missing something obvous here…


Unfortunately the Recorder.cs sample code you referenced is incorrect, I apologize. It will be updated today :slight_smile:

The recorder can record 64-bit double values as well as 32-bit integer values. When you are record something like ActualPosition, which exists as a 64-bit double in the RMP firmware, you will need to use:

RecorderRecordDataDoubleGet() instead of RecorderRecordDataValueGet().

So your code (and our code) should read:

Double positionRecord = controller.RecorderRecordDataDoubleGet(0)

It will not be scaled by the UserUnits so you’ll have to do that after getting the value.

The custom trace guide uses a firmware address (32-bit) for custom traces. The value returned from AddressGet(…) is a Host Address (the 64-bit address in your PC’s RAM).

To get the firmware address, you can do this:

Uint32 firmware address = controller.FirmwareAddressGet(axis.AddressGet(ACTUAL…))

Thank you Scott, all understood. I have some beautiful data coming in from my recorder now.

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