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ID : 1733

Acquiring, Displaying and Saving Control Log

Operation path : [F2 Arm] - [F3 Servo State] - [CtrlLog tab]

Acquire control logs of respective items including command position, encoder position, current position, and load factor and userdata (SysLog.Ctrl.UserData), and display the graph on the screen of teach pendant. Five items of each joint's control log can be displayed at the same time.
The acquired control log can be saved.
Press [CtrlLog tab] to display the following [Control Log] window.

Touching an icon on the upper left will displays a pull down menu that includes operation mode as shown below. There are four types of operation modes available.

Operation mode Description Right/Left arrow keys or Jog dial UP/Down arrow keys or the combination of Up/Down arrow keys and Jog dial Screen touch

Move the display		 Shifts the display range of the graph axis. Pressing Right/Left arrow keys will move the display range of the X axis. To adjust the display range with smaller scale, turn the jog dial. Pressing Up/Down arrow keys will move the display range of the selected Y axis. To adjust the display range with smaller scale, turn the jog dial while pressing Up/Down arrow keys. The display range of the X axis moves.

Change the scale		 Expands or contracts the display range of the graph axis. Pressing the Right/Left arrow keys will expand or contract the display range of the X axis. To adjust display range more precisely, turn the jog dial. Pressing the Up/Down arrow keys will expand or contract the display range of selected Y axis. To adjust the display range more precisely, turn the jog dial while pressing Up/Down arrow keys. The display range of the X axis moves.

Change the range		 Uses to calculate the frequency from the waveform of the log.
For details, refer to the following Change the range section.
(This function is available in Ver.2.9.* or higher.) 		Pressing the Right/Left arrow keys will move the selection range cursor on the X axis. To adjust the selection range with smaller scale, turn the jog dial. Not used. The selection range on the X axis moves to the position where you touched.

Check the current		 Value of the selected range. If you select a position where a robot motion command was executed, "Program" and "Line number" are displayed on the upper right. Pressing the Right/Left arrow keys will move the cursor indicating the current value. To adjust the cursor more precisely, turn the jog dial. Not used. The cursor indicating the current value moves to the position where you touched.
Keys other than function keys

Press button to display pull-down menu.
Press and select the joint number to display control log.
Joints (J1 to J8) and regeneration resistance load factor can be selected.

Instruction

Displays command position information for the specified joint. [deg or mm]

Selecting this item will display a line graph with a red line.
Encoder

Displays encoder position information for the specified joint. [deg or mm]

Selecting this item will display a line graph with a green line.
Current
(compared with the rated value)

Displays current position information for the specified joint. [%]

Selecting this item will display a line graph with a blue line.
Load

Displays load factor information for the specified joint. [%]

Selecting this item will display a line graph with a yellow line.
UserData(SysLog.Ctrl.UserData)

Displays UserData.

Selecting this item will display a line graph with a gray line.

In RC7M, the displayed value was a value compared with an overcurrent error detection level, However, in RC8 series, the displayed value is a value compared with a rated value.

Available function keys
[F1 Clear Log] Control log data are initialized.
The ring buffer is cleared so that new logs can be saved.
[F2 Start Log] Starts acquiring control log.
REC on the icon of control log tab turns on when the acquisition of control log is started.
[F3 Stop Log] Stops acquiring control log.
REC on the icon of control log tab turns off when the acquisition of control log is completed.
[F4 Save Log] Saves the acquired control log information to the data storage memory.
[F5 Refresh] Updates the latest information on the control log display screen of tech pendant.
[F6 Setting] Displays [Control log settings] window.
The settings of "Control log recording time" and "Control log recording interval" can be checked and changed here.
[F7 Switch Y-Value display] Changes the display of Y-axis scale between vertical and horizontal.
Setting the Y-axis scale to the vertical direction will expand the display range of the graph.
[F8 Change axis display range] Changes the display range of the X- or Y-axis.
Pressing [F8 Change axis display range] will display the setting window. Select desired operation from the followings.
  • Edit X-axis display range
    Specify the display range (start position, end position) of X-axis with numerical values.
  • Edit selected Y-axis display range
    Specify the display range (start position, end position) of Y-axis with numerical values.
  • Initialize X-axis display range
    Initialize the X-axis display range. (Set the X-axis display range to the default.)
  • Initialize selected Y-axis display range
    Initialize the selected Y-axis display range. (Set the Y-axis display range to the default.)

Control log can be acquired from an external device by using the provider. For details, refer to "Acquisition of Log Data".

Change The Range (This Function is Available in Ver.2.9.* or Higher.)

keys Function
[Start] key Changes the operation target of jog dial to the start line.
[End] key Changes the operation target of jog dial to the end line.

If the start line is not located on the left side of the end line, the frequency is not displayed.

ID : 1733

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