Force Sense Log; Force Sense Log Function Specifications; Function (Teaching) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

8.3 Force Sense log

The force sense log function is used to obtain and display log data such as force sensor data and position data.
Log data can be viewed in a graph using the RT ToolBox2 force sense control log file viewer. This function can
be used for such tasks as force sense control related parameter adjustments and checking the work status.
Furthermore, this function is equipped with a feature to transfer force sense log files to the computer by FTP,
facilitating robot quality control during operation by checking work quality and analyzing data when errors occur.

Force Sense Log Function Specifications

8.3.1
Function
Force sense log
data acquisition
Force sense log
data display
(RT ToolBox2)
Force sense log file
FTP transfer
*1: If the Max. data acquisition time (45 s) is reached before the FsLog Off command is executed, data
collection is automatically stopped.
*2: If the number of files stored in the controller exceeds 2, the file with oldest creation data is deleted.
Table 8-10: Force sense log function specifications
Item
Acquirable data
Sample time
Max. data acquisition
time
Data acquisition trigger
Data file format
No. of saved data files
Graph Graph format
display
Display data qty
Data processing
Data operation
Data transfer
8 Using the Force Sense Function (Programming)
Description
See Table 8-11
7.111 ms cycles
45 sec. *1
Log data is acquired from the time the FsLog On
command is executed until the FsLog Off command is
executed.
CSV format (See Table Table 8-12.)
2
*2
(Saved data is lost when the controller power is turned
OFF.)
Scatter diagram format
<Horizontal axis>
Select from time, position commands, position FB,
movement ratio.
<Display data>
Select from force sensor data, position commands,
position FB, current FB.
Vertical axis: 6, horizontal axis: 1
Filter processing (Filter processing is only possible for
force sensor data.)
Force sense control log file reading from R/C
Graph image backup
Log files are saved to computer using FTP.
Force Sense log 8-81