ID : 5474
SysLog.Ctrl.UserData
Function
To record the designated value to the control log.
Executing this command for Home Position Guidance links the current robot position as a home position to the specified home position number.
Syntax
SysLog.Ctrl.UserData Setting value
Guaranteed Entry
- Setting value
-
Designate the arbitrary value by integer type data or single precision real number type data.
For Home Position Guidance
SysLog.Ctrl.UserData Home Position number
Guaranteed Entry
- Home position number
-
Specify the Home Position number by integer type data of 1 or more.
Description
Arbitrary values are recorded in the control log. Recorded in the log together with the command values and other values when the command values are created.
Even if values are changed more frequently than the command creation period, these changes are not reflected in the logs.
For Home Position Guidance
Obtain the current robot position by position type data and link the current robot position as a home position to the specified home position number.
When using single precision real number type data as home position number
In the Home Position Guidance function, numbers after decimal point are recognized as values rounded down.
For example, if a home position number is set to 4.1, the number is recognized as 4.
Related Terms
SysLog.Ctrl.Start, SysLog.Ctrl.Stop, SysLog.Ctrl.Clear, Logging
Attention
- See "Acquiring, Displaying and Saving Control Log" in "TEACH PENDANT OPERATION GUIDE" for about how to check the control log with a teach pendant.
- See "Acquisition of Log Data" in "WINCAPSIII GUIDE" for about how to export controller's log data to WINCAPSIII.
See "Displaying and Reading Project List" in "TEACH PENDANT OPERATION GUIDE" for about how to export controller's log data to a USB.
Example
Sub Main
TakeArm 0
ClrPathPoint 3
AddPathPoint 3,P31
AddPathPoint 3,P32
AddPathPoint 3,P33
AddPathPoint 3,P34
AddPathPoint 3,P35
AddPathPoint 3,P36
AddPathPoint 3,P37
AddPathPoint 3,P38
AddPathPoint 3,P39
AddPathPoint 3,P40
AddPathPoint 3,P41
AddPathPoint 3,P42
Speed Mps(700)
Move P,@E P30
'Start recording the control log
SysLog.Ctrl.Clear
SysLog.Ctrl.Start
Move S, @E 3, Next
'Record currently passed path point numbers in the control log in chronological order
Do
SysLog.Ctrl.UserData CurPathPoint(1)
Loop Until MotionComplete
'Stop recording the control log
SysLog.Ctrl.Stop
GiveArm
End Sub
For Home Position Guidance
Sub Sample_SysLog.Ctrl.UserData
' Start recording the control log
SysLog.Ctrl.Clear
SysLog.Ctrl.Start
Move P,@E P30
' Specify the current position as the Home Position to the Home Position number 10.
SysLog.Ctrl.UserData 10
' Stop recording the control log
SysLog.Ctrl.Stop
End Sub
ID : 5474