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ID : 1735

Acquiring, Displaying and Saving Servo Log

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

Acquire servo logs of respective items including motor speed instruction, actual motor speed, torque instruction, position deviation, current value, instruction value, and encoder value and display the graph on the screen of teach pendant.
Press [Servo Log tab] to display the following [ServoLog] 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. 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

Pressing this button will display a pull down menu.
Select desired axis number that you want to display the Servo Log.
Joints (J1 to J8) and regeneration resistance load factor can be
selected.
Graph display button

Pressing the button will display graphs of the currently assigned logs. There are seven types of logs as shown below. You can assign up to four types of logs by pressing [F6 Setting].

  • MotorSpeed : Display the motor speed instruction information of the specified axis. [rpm]
  • RealSpeed : Display the actual motor speed information of the specified axis. [rpm]
  • Torque : Display the torque instruction information of the specified axis. [%]
  • Deviation : Display the position deviation information of the specified axis. [deg , mm]
  • Current : Display the current value information of the specified axis. [%]
  • Instruction : Display the instruction value of the specified axis. [deg]
  • Encoder : Display the encoder value of the specified axis. [deg]
Available function keys
[F1 Clear Log] Servo logs are initialized.
The ring buffer is cleared so that new logs can be saved.
[F2 Start Log] Starts acquiring servo log.
REC on the icon of servo log tab turns on when the acquisition of servo log is started.
[F3 Stop Log] Stops acquiring servo log.
REC on the icon of servo log tab turns off when the acquisition of servo log is completed.
[F5 Refresh] Updates the latest information on the servo log display screen of tech pendant.
[F6 Setting] Displays [Servo log settings] window.
Confirm and change the settings associated with servo log acquisition.
[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.)

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 : 1735

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