Troubleshooting Teach Pendant Software Freezes

Locally, try to access the terminal. Press Ctrl+Alt+F1 to enter the terminal, using the username root and password bestcobot; exit the terminal with Ctrl+Alt+F7.

Remotely, log in to the target device via ssh, with password bestcobot.

1. UI Popup Focus Conflict

• Condition 1: The UI is frozen and the screen turns gray-black.

  • Cause: The UI is frozen.

  • Solution: No special action is required. Wait about 15 seconds, and the teach pendant will automatically end the process and restart.

• Condition 2: The UI is frozen for a long time and the screen does not turn gray-black.

  • Cause: The interface cannot be operated due to a focus conflict. This usually occurs when there are many popup windows.

  • Solution: Plug a keyboard into the control cabinet and press 【Alt】+【Tab】 to view or switch popup windows. If the problem persists, power off and restart the system.

2. top/htop Commands

Purpose: A performance analysis tool that displays the resource usage of each process in the system in real time.

top

The output can be roughly divided into 7 parts:

• Line 1 shows the system overview.
• Line 2 shows the process overview.
• Line 3 shows the CPU overview.
• Line 4 shows the memory overview.
• Line 5 shows the Swap partition overview.
• Line 6 is an empty line used to display the parameters entered when running the command.
• The remaining part shows the detailed information of each process.

htop -p `pgrep aubo_scope`

htop -p `pgrep aubo_control`

3. strace Command

Purpose: The strace command is a tool that integrates diagnosis, debugging, and statistics, and can be used to trace and debug programs.

Example: Suppose the CPU usage of aubo_control reaches 100% after running, and then returns to normal after a while. After executing the strace -c -p command, when the time you care about has arrived, press Ctrl + c to exit; strace will then list the following related information.

strace -c -p `pgrep aubo_control`

• -c: Count the time, calls, and errors of each system call, and report a summary.
• -p: Trace the process with process ID PID; can be repeated.

In the screenshots above, the program spent most of its time waiting on select(), and each select() call invoked getppid() and time(), which is a typical event loop.

4. gdb Command

Purpose: View the stack information of a program.

Common gdb commands:

gdb -p `pgrep aubo_control`

• l: Display source code.
• bt: View stack information.
• i: View information.
• n: Execute the next statement.
• r: Run the program.
• p: Print a variable value, e.g. p sum prints the value of the variable sum.
• q: Quit the gdb debugger.