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ID : 9693

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 window of the smart TP.
Press [Servo Log tab] to display the following [ServoLog] 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. 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] (*) Servo log and control log are initialized.
The ring buffer is cleared so that new logs can be saved.
[F2 Start Log] (*) Starts acquiring servo log and control log.
REC on the icon of servo log and control log tab turns on when the acquisition of servo log and control log is started.
[F3 Stop Log] (*) Stops acquiring servo log and control log.
REC on the icon of servo log and control log tab turns off when the acquisition of servo log and control log is completed.
[F5 Refresh] (*) Updates to the latest information on the servo log display window of the smart TP.
[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.)
(*) This key is available only when the currently logged-in account is granted user permission for "Programming" or "Maintenance".
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]

ID : 9693

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