ID : 11274

Force Control Log

Operation path: [F2 Arm] - [F2 Force Control] - [F2 Force Control Log]

Obtains the logs of the travel distance command values of each axis, travel distance current values, arm end command values, arm end current values, and sensor values and displays them with a graph.

When receiving the control logs, WINCAPSIII receives the force control logs as well. In the [File] menu of WINCAPSIII, the received force control logs can be output in the form of a CSV file.

Displaying the Force Control Logs

Operation path: Top screen - [F2 Arm] - [F2 Force Control] - [F2 Force Control Log]
A bold line in the graph indicates the area where force control is working.

Touching the icon on the upper left will display a pull down menu by which you can switch the operation modes for the graph. The following four types of operation modes are available.

Operation mode	Description	Left/Right keys	Up/Down keys	Touch the screen
Moving the displayed range	To move the displayed range of the graph.	Moves the displayed range of the X axis.	Moves the displayed range of the Y axis you select.	Moves the displayed range of the X axis.
Scaling the displayed range	To increase or decrease the displayed range of the graph.	Increases or decreases the displayed range of the X axis.	Increases or decreases the displayed range of the Y axis you select.	Moves the displayed range of the X axis.
Changing the selected range	For details, refer to the following.	Moves the range selection cursor on the X axis.	Not used.	Moves the range selection cursor on the X axis to the position you touch.
Checking the current value	To display the value of a point you select. If you select a point where a robot motion command was executed, "Program" and "Line number" will be displayed on the upper right.	Moves the cursor indicating the current value.	Not used.	Moves the cursor indicating the current value to a point you touch.

Keys other than function keys
	Pressing this button will display a pull-down menu. Select an axis number whose force control logs you want to display. Joint-mode data of X, Y, Z. Rx, Ry, and Rz can be displayed.
Dist-Inst	Displays the information of travel distance command values. The values are based on the force control coordinate system. Selecting this key will display a pink line graph.
Dist-Enc	Displays the information of travel distance current command values. The values are based on the force control coordinate system. Selecting this key will display a yellow line graph.
Pos-Inst	Displays the information of arm end command values. The values are based on the work coordinate system. Selecting this key will display a purple line graph.
Pos-Enc	Displays the information of arm end current values. The values are based on the work coordinate system. Selecting this key will display a light-blue line graph.
Sensor	Displays the information of sensor values. The values are based on the force control coordinate system. Selecting this key will display a red line graph.

Available function keys
[F1 Clear Log]	Deletes the obtained force control log information.
[F2 Start Log]	Starts obtaining the force control logs.
[F3 Stop Log]	Stops obtaining the force control logs.
[F4 Save]	Saves the obtained force control log information.
[F5 Refresh]	Updates the information displayed on the force control log window of Smart TP.
[F6 Setting]	Displays [Force Control Log Setting] where you can check and change the force control log-related settings.
[F7 Switch Y-Value display]	Switches how the Y-axis scale is displayed between vertical and horizontal. Setting the Y-axis scale to the vertical direction will increase the displayed range of the graph.
[F8 Change axis display range]	Changes the displayed range of the X- or Y-axis. Pressing [F8 Change axis display range] will display the [Change axis display range] window where you can select how to change the displayed range from the following. Edit X-axis display range Specify a displayed range (start position, end position) of the X axis with numerical values. Edit selected Y-axis display range Specify a displayed range (start position, end position) of the Y axis with numerical values. Initialize X-axis display range Restore the X-axis displayed range to the default. Initialize selected Y-axis display range Restore the Y-axis displayed range to the default.

The force control logs and sensor values displayed in [Monitor] may not be the same as the values detected by the force sensor because the displayed values are compensated values. Therefore, even if the detected values do not exceed the values you have specified, values exceeding the detected values may be displayed on the screen. Conversely, even if the detected values exceed the values you have specified, values not exceeding the detected values may be displayed on the screen.

Changing the Selected Range

Key	Function
Start	Sets the starting time of logging.
End	Sets the ending time of logging.
Next	Jumps to the beginning of the next force control period.

Sample Program

The following is a sample program for obtaining force control logs.

The logging will start before force control is enabled, and will end when the force control ends.

Sub Main 

  TakeArm Keep = 0
	
  Motor On

  'Initial position
  Move L, P4+(0,0,10)
	
  ClearLog
  StartLog
	
  'Register the current values as Point 0 (ON|ONm)
  ForceSensor 0
	
  Delay 1000

  'Enable the force control in the Table No.1 setting
  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 met
  ForceWaitCondition Force = P(0,0,5)
	
  'Change the control parameters dynamically
  ForceParam 1,1,P(0,0,10,0,0,0), Damp = P(100,100,100,100,100,100), SPMax = 100
	
  'Rotate around Rz
  Drive (6,45), Speed = 20, Next
	
  Delay 10000
	
  'End the force control
  ForceCtrl False
	
  'End the movement
  Move P, P4+(0,0,10)
	
  StopLog
	
End Sub

ID : 11274

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Related Information: Force Control Log Setting