Also checkout the new CB3 forum
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.
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.
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Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
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
https://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/functions-1/#comment-1622
Hi,
how can I export the Log File from Polyscop to a PC with Ethernet Connection and without USB?
Thanks
Sebastian
Hi Sebastian
Maybe consider to use a FTP program to transfer the log file from the robot. The log file log_history.txt is located in the /root directory on the robot.
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum
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
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
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
Hi Carsten
Thanks for your question.
The urmagic file can copy the log file to a USB. (But whether the forces/torques information you seek are in the log file is uncertain).
More informations can be found here.
http://www.universal-robots.com/download/?option=16449#section16447
Author:
By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.
Also check out the CB3 forum