Hello everyone,

I am working with the XDK110 within my masterthesis.

One of my usecases deals with two Scara Robots in the Bosch plant in Blaichach. Those two Robots should be equally fast, because they do the same work with the same tool and the same programm. For some reason, one of the robots is faster then the other.

And here comes the XDK. I mounted the XDK to the tool of the scara with some cable tie. Befor, I flashed the XDK with the demoDataLogger. Also I configured the logger.ini correctly.

Somehow the XDK turns off after a few houres. XDK1 turns off after ca. 3 houres, XDK2 turns off after ca 12 houres.

Where is the problem? I thought the Battery Life reaches up to months?

After I found the XDKs switched off, I can switch them on again and they start logging without problems.

 

Do you have any expiriences with the stability and the battery life of demoDataLogger, or with mounting the xdk on fast moving devices?

 

greetings

Stephan

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RE: XDK switches off during demoDataLogger
Antwort
20.10.16 12:52 als Antwort auf Stephan Niederwald.

Hello Stephan,

this is a really great use case for the XDK.

The shutdown of the demoDataLogger could have several reasons.
As you have already mentioned the battery could be empty after a some time. Please note that the XDK is fully charged when the green LED turns off. The battery life could last for some hours up to weeks but this completely depends on the application. Networking functionalities require way more power than other peripherals.
It also depends on the sampling rate how long the battery will last.

Related to the fact that if you turn the XDK on again and it starts logging, I assume a file system issue.
The maximum file size of FAT32 is limited to 4GB. The datalogger has currently no mechanism to create a new file except for when you start logging.

I hope this helps you.

Kind regards,
Manuel

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RE: XDK switches off during demoDataLogger
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21.10.16 12:12 als Antwort auf Manuel Cerny.

Hello Manuel,

thank you for the answer!

I think I will make some battery tests by trying out diffrent configurations in the logger.ini.

In the mentioned case I activated both accelerometers and gyroscopes and put the gyroscope sampling rate up to 500 and the bandwidth to 230.  Also the magnetometer was enabled with 50/25. I noticed that the standart gyroscope bandwidth is 32. Maybe that increases the battery drain?

Here an excert of my logger.ini

[bma280]
; Sensor enabled? [0, 1]
enabled=1
; Sensor Sampling Rate in Hz: [0.0001 - 1000]
sampling_rate=1000
; Sensor Range in +- g: [2, 4, 8, 16]
range=16
; Sensor Bandwidth in Hz (or unfiltered): [7.81, 15.63, 31.25, 62.5, 125, 250, 500, unfiltered]
bandwidth=500

[bmg160]
; Sensor enabled? [0, 1]
enabled=1
; Sensor Sampling Rate in Hz: [0.0001 - 1000]
sampling_rate=500
; Sensor Bandwidth in Hz (or unfiltered): [32, 64, 12, 23, 47, 116, 230, unfiltered]
bandwidth=230

[bmi160]
; Sensor enabled? [0, 1]
enabled=1
; Sensor Sampling Rate in Hz: [0.0001 - 1000]
sampling_rate=1000
; Accelerator Sensor Range in +- g: [2, 4, 8, 16]
range=16
; Accelerator Sensor Bandwidth in Hz (or unfiltered): [7.81, 15.63, 31.25, 62.5, 125, 250, 500, unfiltered]
bandwidth_accel=500
; Gyroscope Sensor Bandwidth in Hz (or unfiltered): [32, 64, 12, 23, 47, 116, 230, unfiltered]
bandwidth_gyro=230

[bmm150]
; Sensor enabled? [0, 1]
enabled=1
; Sensor Sampling Rate in Hz: [0.0001 - 1000]
sampling_rate=50
; Sensor Datarate in Hz (or unfiltered): [10, 2, 6, 8, 15, 20, 25, unfiltered]
data_rate=25

The missing sensors are deactivated.

I think for my usecase the best is to deactivate the bma and the bmg and only use the bmi for motion tracking.

 

So you dont think the fast motion of the robot has negative effects on the XDK and makes them shut down?

I used an 2gb microSD and the filesizes of the biggest logfiles where 80mb and 300mb. So I dont think there was a filesize-problem.

I will let you know of my test results.

Best regards

Stephan

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RE: XDK switches off during demoDataLogger
Antwort
24.10.16 13:44 als Antwort auf Stephan Niederwald.

Hello Stephan,

I don't assume the fast motion of the Scara robots has any negative effect on the XDKs. The XDKs are isolatedly connected as measuring units to the Scara robots. Therefore the measuring and data logging should work independ of the measuring of object. 

Your assumption about the battery draining by using more sensors could be correct. The amount of used sensors based on which power mode is used directly effects the battery charge. But this is no explanation why your XDKs can be restarted without any issues and start logging again when they go off. I suppose the problem is somewhere else.

Please keep us updated on your progress.

Kind regards,
Manuel

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RE: XDK switches off during demoDataLogger
Antwort
27.10.16 13:38 als Antwort auf Manuel Cerny.

Hello Manuel (and everyone else),

Thank you for answering!

First something about my use case: the Scara-Use-Case is nearly completed. The Data collected was great to analyze. You can easylie identifie the the clock-time with the gyroscope-data. We compared the data with a video I made of the robots and you can assign every turn to a peak at the gyro-curve. By measureing the time between the peaks you can analyze every movement. I used a Diadem evaluation-version for analyzing the data. The problem is, the evaluation time runs out, and a full licence is expensive.

Can you give me advice, which (ideally free) software is used to analyze Sensordata of the XDK? (New Topic?)

 

Now the Battery Point: I am still trying out configurations of the demoDataLogger, but the XDK is not working as expected. If I reduce each sampling rate (even to 0.0001 Hz) the runtime is still never higher than 22h. If I boot the XDK connected to Workbench, the console allways shows a higher maximum sampling rate. E.g. every Sampling Rate is turned to 1 Hz, the console says:

 INFO | XDK DEVICE 1: Maximum sampling rate for this configuration: 150 Hz
 INFO | XDK DEVICE 1: Maximum ticks for this configuration: 6 ms

Why?

Should I change something in the software? The promised "From two weeks up to several months." (XDK FAQ) is far away...

 

 

@Manuel:

"The amount of used sensors based on which power mode is used directly effects the battery charge. "

What is the power mode and how can I change it?

" But this is no explanation why your XDKs can be restarted without any issues and start logging again when they go off. I suppose the problem is somewhere else. "

I think the problem is a battery-problem. I forgot to say, that after rebooting and starting logging again, the XDK turns off after a few minutes. So the battery seems to be empty. I tested with 3 different XDKs with the unchanged demoDataLogger and several diffrent logger.ini-configurations. The duration was allways between 16:30h and 22h.

 

I can't be the only one who uses the XDK like that. Has nobody similar experiences or problems??

I'd be really grateful, if someone can tell me how to configure the XDK to reach "two weeks up to several months".

best regards

Stephan

 

 

 

 

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RE: XDK switches off during demoDataLogger
Antwort
28.10.16 06:37 als Antwort auf Stephan Niederwald.

Hi Stephan,

we have some XDKs in a similar usage, sending data via WLAN to a server. 

After noticing that battery power is too low to get as much data, as we want, we just connected a permanent 5V power supply to the XDK. Now it works fine.

Maybe this is also a solution for your Scara-UseCase.

Greetings,

Markus

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RE: XDK switches off during demoDataLogger
Antwort
28.10.16 16:57 als Antwort auf Markus Thäter.

Hello Stephan,

I am glad to hear that your use case with the Scara robots is nearly completed. Unfortunately I can not make any suggestions about any software that can analyse the received sensor data from the XDKs.

Further you can only reduce the sampling rate to 1Hz. Any other configuration below 1 Hz is treated as 0 Hz and the datalogger won't log any data, even though in the configuration file values between 0 and 1 are allowed. We are already aware of this bug and the development team will take care of it. 
Note that each sensor has its own restriction of the sampling rate, that might be the reason, why you get the console log of the maximum sampling rate of 150 Hz.

For more information about the sampling rate issue you can refer to this thread here. Additionally for more informations about the sensor configurations you can refer to the thread here.

I also guess that your problem is a battery based. The power mode describes the amount of power consumption of the accelerometer and gyroscope. For both you have the possibility to adjust the power mode and therefore their power consumption manually. Both interfaces provide a function that is called _setMode() to do so. But be aware if you do so, that it is direct related in a loss of measurements and lower measuring accuracy.

Further the power consumption of the XDK in genreal is directly related to the number of initialized peripherals. For example if you haven’t initialized the Wi-Fi module, the Wi-Fi modules will not drain any power.

Therefore I suggest what Markus mentioned, to use an external power supply source to power up the XDK to work for several weeks or months. 

Please tell me if this is a possibility for you?

Kind regards,
Manuel

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