Datasets:

zaki2022
/

ethercat-master-jitter-logs

Error code:   FeaturesError
Exception:    ArrowTypeError
Message:      ("Expected bytes, got a 'int' object", 'Conversion failed for column # wrc_cycle_log_v1 backend=ecmaster target_rad=output_prepared_this_cycle previous_target_rad=prior_cycle_output with type object')
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 244, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 4408, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2679, in _head
                  return next(iter(self.iter(batch_size=n)))
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2861, in iter
                  for key, pa_table in ex_iterable.iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2395, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/csv/csv.py", line 199, in _generate_tables
                  pa_table = pa.Table.from_pandas(df)
                File "pyarrow/table.pxi", line 4796, in pyarrow.lib.Table.from_pandas
                File "/usr/local/lib/python3.14/site-packages/pyarrow/pandas_compat.py", line 651, in dataframe_to_arrays
                  arrays = [convert_column(c, f)
                            ~~~~~~~~~~~~~~^^^^^^
                File "/usr/local/lib/python3.14/site-packages/pyarrow/pandas_compat.py", line 639, in convert_column
                  raise e
                File "/usr/local/lib/python3.14/site-packages/pyarrow/pandas_compat.py", line 633, in convert_column
                  result = pa.array(col, type=type_, from_pandas=True, safe=safe)
                File "pyarrow/array.pxi", line 365, in pyarrow.lib.array
                File "pyarrow/array.pxi", line 91, in pyarrow.lib._ndarray_to_array
                  check_status(NdarrayToArrow(pool, values, mask, from_pandas,
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
                  raise convert_status(status)
              pyarrow.lib.ArrowTypeError: ("Expected bytes, got a 'int' object", 'Conversion failed for column # wrc_cycle_log_v1 backend=ecmaster target_rad=output_prepared_this_cycle previous_target_rad=prior_cycle_output with type object')

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

EtherCAT Master Jitter Logs

这是 motor_jitter_viewer 的实机 EtherCAT 周期日志数据集，用于横向查看 EC-Master、SOEM 和 IgH 三种主站下，右臂 D18–D24 的位置跟踪与 1 ms 控制周期波动。

配套查看器和分析说明：https://github.com/zhuzq2020/motor_jitter_viewer

数据结构

raw/
  ecmaster/cycle_ecmaster_20260908_141617.csv
  soem/cycle_soem_20260908_141257.csv
  igh/cycle_igh_20260908_140958.csv
metadata/
  runs.csv

三次记录使用相同的 fixed_end_comparison_demo 固定右臂末端轨迹，峰值转速设为 3 RPM；控制周期为 1 ms，网口为 enp2s0，记录关节 D18–D24。metadata/runs.csv 给出了文件大小、SHA-256 和样本数，可用于校验下载结果。

CSV 首行以 # 开头，描述日志版本和目标位置语义；第二行是列名。主要字段：

monotonic_ns / time_s：主站进程内的单调时钟时间。
cycle、command_id、phase、segment：控制周期和轨迹执行状态。
master_op、frames_ok、dropped_total：主站健康状态与日志丢弃累计值。
Dxx_actual_rad：驱动反馈的实际位置。
Dxx_target_rad：本周期控制回调准备的目标位置。
Dxx_previous_target_rad：上一控制回调准备的目标位置。
Dxx_velocity_rpm、Dxx_torque_nm、Dxx_status、Dxx_error、Dxx_mode：关节反馈和状态。

使用

公开数据集无需登录即可下载：

hf download zaki2022/ethercat-master-jitter-logs --repo-type dataset --local-dir hf_logs

把 raw/ecmaster、raw/soem、raw/igh 下的 CSV 分别复制到查看器项目的 imported_logs/ecmaster、imported_logs/soem、imported_logs/igh，启动 jitter_viewer.py 即可自动识别。

限制

这些数据来自每种主站各一次实机记录。它们适合复现查看器分析流程和观察该批次实验，但不足以单独得出三种 EtherCAT 主站的一般性能排名。严谨对比应固定驱动参数、机械负载、轨迹、初始姿态和系统实时配置，并进行多轮交替实验及统计检验。

日志记录的是主站应用层约 1 kHz 控制回调样本；采样间隔反映回调调度与日志时间，不等同于网线帧到达时间或驱动器内部伺服周期。

许可

数据采用 Creative Commons Attribution 4.0 International 许可。

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