ID : 5592

Acquiring, Displaying and Saving Force Control Log

Acquire logs of the following values of each axes, and then display the result in the graph; - Command value of travel distance - Current value of travel distance - Command value of tool end - Current value of tool end - Sensor value

For adjustment procedure by using Force control log, refer to "Adjustment Procedure".

WINCAPSIII receives the force control log at the same time of the control log reception. You can output the received force control log as a CSV file. To export the log, from the menu bar of the WINCAPSIII, point to [File]-[Export].

Displaying the Force Control Log

From the top screen, press [F2 Arm]-[F6 Aux]-[F1 Force Control Log]
Bold line on the graph indicates the area where the force sensor works.

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	For details, refer to the following "Change the range" section.	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
	Pressing this button will display a pull down menu. Select desired axis number that you want to display the force control log. Joint-mode data of X, Y, Z. Rx, Ry, and Rz are available.
Dist-Inst	Display the information of Dist-Inst. The graph shows the value on the force control coordinate system. Selecting this item will display a line graph with a pink line.
Dist-Enc	Display the information of Dist-Enc. The graph shows the value on the force control coordinate system. Selecting this item will display a line graph with a purple line.
Pos-Inst	Display the information of Pos-Inst. The graph shows the value on the work coordinate system. Selecting this item will display a line graph with a yellow line.
Pos-Enc	Display the information of Pos-Enc. The graph shows the value on the work coordinate system. Selecting this item will display a line graph with a light blue line.
Sensor	Display the information of Sensor. The graph shows the value on the force control coordinate system. Selecting this item will display a line graph with a red line.

Available function keys
[F1 Clear Log]	Delete the acquired control log information.
[F2 Start Log]	Starts acquiring control log. REC on the icon of force 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 force control log tab turns off when the acquisition of control log is completed.
[F4 Save Log]	Saves the acquired control log information.
[F5 Refresh]	Updates the latest information on theforce control log display screen of tech pendant
[F6 Setting]	Displays [Force Control log settings] window. Confirm and change the Force control log-related settings.
[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.)

Values displayed in the monitor could differ from the values detected by the force sensor. This is because the displayed values of the force control log or the sensor have been compensated. Therefore, although the detected values actually do not exceed the values you have specified, the displayed value could exceed the value specified, or, conversely, although the displayed values actually do not exceed the values you have specified, the detected value could exceed the value specified.

Change The Range

keys	Function
Start	Set the starting time of logs. Once the button is pressed, the green lamp turns on so that you can set the log starting time.
End	Set the ending time of logs. Once the button is pressed, the green lamp turns on so that you can set the log ending time.
Next	Jump to the beginning of the next force control period.

Sample Program

Start the log acquisition before starting the force control. End the log acquisition when the force control ends.

Sub Main 

  TakeArm Keep = 0
	
  Motor On

  'Initial position
  Move L, P4+(0,0,10)
	
  SysLog.Ctrl.Clear
  SysLog.Ctrl.Start
	
  'Set the current values to zero. (0N|0Nm)
  ForceSensor 0
	
  Delay 1000

  'Enable the impedance control with the setting of the table number 1
  ForceParam 1,1,P(0,0,30,0,0,0),Damp = P(100,100,100,100,100,100),SPMax = 100
	
  'Start the force control
  ForceCtrl True, 1
	
  'Wait until the conditions are meet
  ForceWaitCondition Force = P(0,0,5)
	
  'Actively change the control parameters
  ForceParam 1,1,P(0,0,10,0,0,0), Damp = P(100,100,100,100,100,100), SPMax = 100
	
  'Rotate around the Rz-axis
  Drive (6,45), Speed = 20, Next
	
  Delay 10000
	
  'End the force control
  ForceCtrl False
	
  'End the motion
  Move P, P4+(0,0,10)
	
  SysLog.Ctrl.Stop
	
End Sub

ID : 5592

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Related Information: Displaying and Changing the Force Control Log Setting