Step 1: Obtain Info

Obtain the debug files from the AMR along with the following information:

• Description of issue
• Robot ID
• Time and Date of occurrence 
• What was the unit doing?
• Software / firmware versions of all the devices can be found either through the MP Software or debug files.

Step 2: Identify Via Key Words

Open debugging file.

The downloaded debug files will appear as a .zip file with the name of the robot and date as the title

In this folder you will see several sub folders. The main ones we are interested in are the following:

• ‘home/admin’ (Map File)
• ‘var/robot/logs’ (Robot Logs)
  The most recent log will be ‘log.txt’.

When debugging look for:

• “Robot at” – X, Y, θ position of the robot.
• “MarcDebug” – DebugMessages from Marc that are copied into the robot ARAM log.  
  • Very useful for checking low level issues
• “Fault” – Fault messages displayed to the user.
• “Status” – Current status of the robot 
• “process_size_rssize_vsize” – Give memory used from the different processes 
• “ArServerHandlerConfig::Got config from client” – indicates that a configuration change was received from MP
• “LocScore” – Localization score of the robot 
• “ERROR”-  indicates a system level error
• “Failed” - indicates a failed path, macro, robot task etc
• "Path Planning: Obstacles inside robot radius" - Robot unable to move
• “Executemacro” - macros
• "QueueUpdate" – Command from PLC and update of job assignment
• "TextServer" - External command source usually followed by IP address
• "Queuecancel" - External commands such as PLC, Fleet Manager, MES etc
  • Example: "TextServer::10.106.111.100: queueCancel RobotName " server with IP address 10.106.111.100 called the queueCancel. This was actually a PLC sending the queueCancel command
• "ARCL Output" – Update to external system that issued command

Step 3: Data Logging

Data logging can be an effective way to debug an issue if it is not immediately obvious. 

Create a data log via Mobile Planner:

• In MP, navigate to Configuration > Debug > Data Log Settings and set the “Log” setting to True.
• Set “LogInterval” to the desired value.
• Set the value for the entries that you need in Debug > Data Log Settings to True and other entries that you do not need to False.