Log Window Tab

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The Log Tab.

The log Screen can be reach by pressing the “Log” tab. The log screen provides useful information’s about the status of the robot and controller.

Information’s for controller temperature, consumption, power supply output and joint status is available.

universal_robots_zacobria_log_window_tab_

 

universal_robots_zacobria_log_window_tab_2

Below is a running system log with information of resent status and activities. The control buttons are available for running or single step the program and the log entries can be observed while running which is useful for troubleshooting purpose.

Disclaimer: While the Zacobria Pte. Ltd. believes that information and guidance provided is correct, parties must rely upon their skill and judgement when making use of them. Zacobria Pte. Ltd. assumes no liability for loss or damage caused by error or omission, whether such an error or omission is the result of negligence or any other cause. Where reference is made to legislation it is not to be considered as legal advice. Any and all such liability is disclaimed.

If you need specific advice (for example, medical, legal, financial or risk management), please seek a professional who is licensed or knowledgeable in that area.

Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.

Also check out the CB3 forum



8 thoughts on “Log Window Tab

  1. Fredrik

    Hi, (Posted this in the wrong section so I write it here as well, feel free to remove it from old page).

    I’m wondering if its possible to use the readings in the log tab.

    For example, we want to set the payload depending on values in the log tab.
    e.g
    If io_curret < 2
    …. set_payload(1.2[1,1,1])

    Is this possible?

    I only found that you can export the log file to a usb stick but not how to actually use the readings during the program.

    Found this page
    https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/

    were you can see this values in the output. But can you just use those variable names in the program?

    Best Regards
    Fredrik Tallroth

    Reply
  2. Carsten Teichgräber

    Hi Lars,
    thank You for the great website and Your effort!
    My question is about the function get_tcp_force():
    From the script manual:
    “Returns the wrench (Force/Torque vector) at the TCP
    The external wrench is computed based on the error between the joint
    torques required to stay on the trajectory and the expected joint
    torques.”
    What does the term ‘expected torques’ include?

    I’d like to quantify the wrench of a certain handling operation (later at different speeds). I know the mass of the workpiece – but is it wise to tell the UR5?
    I wonder, when I change the payload, does it affect the result of the function?
    Here, I use the robot as a ‘measurement device’.

    Thank You, best regards
    Carsten

    Reply
    1. zacopressadmin Post author

      Hi Carsten

      Thanks for your question.

      I have not used the get_tcp_force() function, but I am convinced that the “expected force” is a internal measurment for force when moving just the robot.

      It is good to tell the UR the known payload and center of gravity because then the robot can better calculate the energy for the moves.

      Have you tried to change the settings and the use the function at different settings ?

      If you need detailed force measurements then a external force torque sensor can give you more acurate measurments for example a model seen at this link

      http://www.zacobria.com/robotiq-zacobria-universal-robot-force-torque-sensor.html

      Author:
      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum

      Reply
  3. Carsten Teichgräber

    Hi,

    I wonder if there’s a possibility to get a log file from the teach pendant to my computer.

    Of course the connection to a host PC over Ethernet is described, but that seems pretty much effort. Can’t I just export the Log file to the local storage and copy it to a USB device?

    My goal is to simply track the forces/torques on the end effector during operation.

    Thanks
    Carsten

    Reply

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