User`s manual

Operating Procedures
3
3-16
3. Operating Procedures
3.4 Operation trace function
This function allows you to visually check the robot and robot driver operation. The table
below shows traceable items and control states.
Trace items
Trace type
Resolution
(number of points)
Trace item (units) Description
Data
update
intervals
Time
axis
Vertical
axis
Analog
graph 1/graph 2
512 65535
Speed command
(min
-1
)
(mm/s)
(Note 1)
Traces the speed command
from the position controller or
analog input, etc.
140 μs
Speed detection
value (min
-1
)
(mm/s)
(Note 1)
Constantly traces the
detected speed value.
140 μs
Output current
(%)
Traces the current pulse
height supplied from the
robot driver to the robot.
4 ms
Torque command
(%)
Traces the torque current
command from the speed
controller or analog input,
etc.
140 μs
Output torque
(%)
Traces the torque current
value.
140 μs
Position command
high order
(pulses)
(Note 2)
Traces the high-order portion
of the position controller's
position command.
140 μs
Position command
low order
(pulses)
(Note 2)
Traces the low-order portion
of the position controller's
position command.
140 μs
Current position
high order
(Note 2)
Traces the high-order portion
of the current position.
140 μs
Current position
low order
(pulses)
(Note 2)
Traces the low-order portion
of the current position.
140 μs
Position error high
order
(pulses)
(Note2)
Traces the high-order portion
of the position controller's
position error.
140 μs
Position error low
order
(pulses)
(Note 2)
Traces the low-order portion
of the position controller's
position error.
(32768 dig = 1 rotation)
140 μs
Output voltage
(V)
Traces the RMS voltage
supplied from the robot driver
to the robot.
40 ms
Digital 2 points
All input terminals Traces all input terminals.
Approx. 1 ms
All output terminals Traces all output terminals. Approx. 1 ms
Note 1: Units displayed when linear motor type is selected.
Note 2: The angle or distance per pulse differs depending on the encoder type when "rotary motor" is
selected or on the linear sensor resolution when in "linear motor" type. Refer to the robot driver
user's manual for more details