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ID : 9691

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 of each axis and userdata (SysLog.Ctrl.UserData), and display the graph on the window of the smart TP.
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.

Control log and servo log use the same ring buffer. Therefore, when you start recording/stop recording/clear the one log, the same operation is executed for the other log.

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

Operation mode Description Right/Left arrow keys UP/Down arrow keys 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. Pressing Up/Down arrow keys will move the display range of the selected Y axis. 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. Pressing the Up/Down arrow keys will expand or contract the display range of selected Y axis. The display range of the X axis moves.

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. Not used. The cursor indicating the current value moves to the position where you touched.
Available function keys
[F1 Clear Log] (*) Control log and servo log data are initialized.
The ring buffer is cleared so that new logs can be saved.
[F2 Start Log] (*) Starts acquiring control log and servo log.
REC on the icon of control log and servo log tab turns on when the acquisition of control log and servo log is started.
[F3 Stop Log] (*) Stops acquiring control log and servo log.
REC on the icon of control log and servo log tab turns off when the acquisition of control log and servo log is completed.
[F4 Save Log] (*) Saves the acquired control log information to the data storage memory.
[F5 Refresh] (*) Updates to the latest information on the control log display window of the smart TP.
[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.)
(*) This key is available only when the currently logged-in account is granted user permission for "Programming" or "Maintenance".
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.

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

ID : 9691

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