Operation Log Book automatically records teach pendant operations and alarms in a buffer that can be displayed in the Log Book menu of the teach pendant or saved as a text file. Some operations can include a screen image to help in analyzing the event.
A system can have multiple Log Books and you can specify which events are recorded in each Log Book. In this way, frequent and infrequent events can be recorded to separate Log Books.
When a Log Book buffer is full and a new record is added, the oldest record is deleted. The number of events that can be stored in a Log Book buffer varies based on the type of events saved because not all events are the same size. You can change the size of the buffer by setting a system variable.
The following is the list of all events that can be recorded by the Log Book function.
Recording of individual events can be disabled by setting the system variable specified in the 'Parameter' column. If it is 0, the event is not recorded. Some of them are disabled by default. If the system variable is not 0, the value indicates the Log Book No. to which the event is recorded.
Some events have a screen image. This information helps to analyze the record. However, screen images take a lot of space in the Log Book; you can disable the recording of screen images by setting the system variable specified in the 'Save screen' column.
Table 1. Events Recorded by Log Book
Message | Event | Parameter (Default) | Save Screen (Default) |
---|---|---|---|
Alarm history | When an alarm occurs, the alarm message is recorded. This record is the same as the record of the alarm history menu. To choose the alarms to be recorded, the 'filtering' function is provided. | $LOGBOOK. $LOG_ER (1) | None |
'x' is entered | When a value or a word is entered, this is recorded. The 'x' in the message is the entered value or word. If screen image is enabled for this event, it will contain the previous value. Values will be recorded even if they are invalid. If you cancel an input, it is not recorded. | $LOGBOOK. $LOG_ENT (1) | $LOGBOOK. $IMG_ENT (TRUE) |
'x' is selected 'x' is selected in 'y' menu |
When a menu item is selected, this is recorded. The 'x' in the message is the selected item. If the menu has a title, the 'y' in the message shows the title. If screen image is enabled for this input, it will show the screen just before opening the menu. | $LOGBOOK. $LOG_SEL (1) | $LOGBOOK. $IMG_SEL (TRUE) |
'x' is selected in 'y' window | When an item is selected in warning window, this is recorded. The 'x' in the message is the selected item. The 'y' in the message is the beginning of the message in the warning window. If screen image is enabled for this event it will show the warning window. | $LOGBOOK. $LOG_WIN (1) | $LOGBOOK. $IMG_WIN (TRUE) |
'x' is selected in MENU 'x' is selected in FCTN |
When an item is selected by MENU key or FCTN key, this is recorded. The 'x' in the message is the selected item | $LOGBOOK. $LOG_MENU (1) | None |
JOG menu TOOL 'x' JOG menu USER 'x' JOG menu JOG 'x' JOG menu GROUP 'x' JOG menu ROBOT JOG menu EXT |
Operations of the JOG menu are recorded with these messages. | $LOGBOOK. $LOG_JGMN (1) | None |
Menu changed 'x' | When a menu is changed, this is recorded. The 'x' in the message is the title of the new menu. Changes to sub menus such as Config or Detail are not recorded. | $LOGBOOK. $LOG_MNCHG (1) | None |
'x' is pressed | When a key is pressed, this message is recorded with the key name. It is not recorded when the key is released. If SHIFT is held when the key is pressed, the word 'SHIFT,' is added to the key name(except SELECT, EDIT, DATA). The keys are grouped as follows, and you can disable recording of each group. | ||
F1, F2, F3, F4, F5 | $LOGBOOK. $LOG_FNKEY (1) | $LOGBOOK. $IMG_FNKEY (TRUE) | |
+X(J1), -X(J1), +Y(J2), -Y(J2), +Z(J3), -Z(J3), +X^(J4), -X^(J4), +Y^(J5), -Y^(J5), +Z^(J6), -Z^(J6) |
$LOGBOOK. $LOG_JGKY (1) | None | |
SELECT, EDIT, DATA, | $LOGBOOK. $LOG_PRGKEY (1) | None | |
UF1, UF2, UF3, UF4, UF5, UF6, UF7 | $LOGBOOK. $LOG_UFKY (1) | None | |
+%, -%, COORD | $LOGBOOK. $LOG_OVRKY (1) | None | |
FWD, BWD | $LOGBOOK. $LOG_FWDKY (1) | None | |
HOLD | $LOGBOOK. $LOG_HLDKY (1) | None | |
STEP | $LOGBOOK. $LOG_STPKY (1) | None | |
PREV | $LOGBOOK. $LOG_PRVKY (1) | None | |
ENTER | $LOGBOOK. $LOG_ENTKY (1) | None | |
ITEM | $LOGBOOK. $LOG_ITMKY (1) | None | |
RESET | $LOGBOOK. $LOG_RSTKY (1) | None | |
Override x% | When override is changed, this is recorded. The 'x' in the message is the new override value. This records all change of override by any method. For example, '+%' key, TP is enabled, override instruction of program. | $LOGBOOK. $LOG_OVR (1) | None |
JOINT coordinate USER coordinate TOOL coordinate JOG coordinate PATH coordinate |
When coordinate is changed, this is recorded. This records all change of coordinate by any method. | $LOGBOOK. $LOG_CRD (1) | None |
Single step ON Single step OFF |
When single step is changed, this is recorded. This records all change of single step by any method. | $LOGBOOK. $LOG_STEP (1) | None |
Motion group x | When motion group is changed, this is recorded. The 'x' in the message is the new motion group This records all change of motion group by any method. | $LOGBOOK. $LOG_GRP (1) | None |
Sub group ROBOT Sub group EXT |
When sub group is changed, this is recorded. This records all change of sub group by any method. | $LOGBOOK. $LOG_SGRP (1) | None |
User frame x | When user frame number is changed, this is recorded. The 'x' in the message is the new user frame number This records all change of user frame number by any method. | $LOGBOOK. $LOG_UF (1) | None |
Tool frame x | When tool frame number is changed, this is recorded. The 'x' in the message is the new tool frame number This records all change of tool frame number by any method. | $LOGBOOK. $LOG_UT (1) | None |
Save file x Load file x |
File x is saved File x is loaded These events are ONLY for file save/load in following screens
|
$LOGBOOK. $LOG_FILE (1) | None |
WAIT is released (x, y) | The waiting WAIT instruction is canceled by WAIT RELEASE in program x line y. | $LOGBOOK. $LOG_WTRLS (0) | None |
Create program x Delete program x Write line x of y Delete line x of y |
TP program x is created. TP program x is deleted. Line x of TP program y is written. Line x of TP program y is deleted. |
$LOGBOOK. $LOG_PGCHG (0) | None |
Write P[x] of y | Position data P[x] of TP program y is written. These are also recorded when program is changed internally. | $LOGBOOK. $LOG_SETPOS(0) | None |
TP 'x' ON TP 'x' OFF |
This records the low level key operation. All key operations of Teach Pendant are recorded. When a key is pressed, 'TP x ON' is recorded. When a key is released, 'TP x OFF' is recorded. ENABLE switch and E-STOP are also recorded. SHIFT key is treated as normal key. CRT operations are not recorded by this event. 'x' in the message is key name, the following keys are recorded. ENABLE, ESTOP PREV, F1, F2, F3, F4, F5, NEXT SHIFT, MENU, SELECT, EDIT, DATA,FCTN UP, DOWN, LEFT, RIGHT, DISP RESET, STEP, BACKSPACE, ITEM, HOLD, FWD, BWD, COORD, +%, -% 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, -/,, ., ENTER, HELP/DIAG, UF1, UF2, UF3, UF4, UF5, UF6, UF7, +X(J1), -X(J1), +Y(J2), -Y(J2), +Z(J3), -Z(J3), +X^(J4), -X^(J4), +Y^(J5), -Y^(J5), +Z^(J6), -Z^(J6), |
$LOGBOOK. $LOG_TPKY (0) | None |
Cold start Power failure recovery Control start |
Start mode is recorded. | $LOGBOOK. $LOG_STMD(1) | None |
You can set system variables to filter specific alarms and screens.
By default, Log Book filters out warning errors. You can filter errors to be logged by severity, type, and item number. Refer to Table 2, " System Variables used for Filtering "
Table 2. System Variables used for Filtering
System Variable Name | Type | Default | Range | Description |
---|---|---|---|---|
$LOG_ER_SEV | INTEGER | 6 | -2147483648 2147483647 | Filter by severity of error. When a bit in this is True, the corresponding errors are logged.
Ex. 6 = pause and abort errors are logged. Priority of this is lower than $LOG_ER_TYP and $LOG_ER_ITM. |
$LOG_ER_TYP[1-n] | INTEGER | 0 | -2147483648 2147483647 | Filter by type of error. If a positive value is specified, alarms of the specified type are logged. Ex. 11 = SRVO alarms are logged. If a negative value is specified, alarms of the specified type are not logged. Ex. -11 = SRVO alarms are not logged. Priority of this is higher than $LOG_ER_SEV but lower than $LOG_ER_ITM. |
$LOG_ER_ITM[1-n] | INTEGER | 0 | -2147483648 2147483647 | Filter by individual error. If a positive value is specified, the specified alarm is logged. Ex. 11001 = SRVO-001 is logged. If a negative value is specified, the specified alarm is not logged. Ex. -11001 = SRVO-001 is not logged. Priority of this is higher than $LOG_ER_SEV and $LOG_ER_TYP. |
Control error filtering by setting the following system variables.
The priority of the settings is: $LOG_ER_SEV < $LOG_ER_TYP < $LOG_ER_ITM
See the following for an example of error filtering:
SRVO-001 "Operator panel E-stop" Severity=PAUSE, Type=11 Item=11001 SRVO-038 "Pulse mismatch" Severity=ABORT Type=11 Item=11038 TPIF-104 "Teach pendant is disabled"Severity=WARN Type=9 Item=9104
Table 3. Alarm Filtering Example
$LOG_ER_SEV | $LOG_ER_TYP | $LOG_ER_ITM | SRVO-001 | SRVO-038 | TPIF-104 |
---|---|---|---|---|---|
6 | 0, 0, .. | 0 ,0, .. | Logged | Logged | Not logged |
6 | 0, 0, .. | 9104, 0, .. | Logged | Logged | Logged |
6 | 0, 0, .. | 9104, -11001, .. | Not logged | Logged | Logged |
7 | -11, 0, .. | 11001, 0, .. | Logged | Not logged | Logged |
0 | 11, 9, .. | -11001 | Not logged | Logged | Logged |
Screen filtering enables Logbook to log UIF events that occur in the screens you specify. Screen filtering supports the following events (UIF events).
'x' is entered
'x' is pressed
'x' is selected
'x' is selected in 'y' menu
'x' is selected in 'y' window
'x' is selected in MENU
'x' is selected in FCTN
JOG menu TOOL 1 etc
By default, screen filtering is disabled. Screen filtering is enabled/disabled by $LOGBOOK.$SCRN_FL.
If $LOGBOOK.$SCRN_NO_ENT is TRUE, events in registered screens are recorded. If FALSE, events in NOT registered screens are recorded.
To register screens, softpart ID and screen ID must be set to $LOG_SCRN_FL[ ].$SP_ID and $LOG_SCRN[ ].$SCRN_ID. By default, no screen is registered for filter.
Table 4. System Variables for Screen Filtering
System Variable Name | Type | Default | Range | Description |
---|---|---|---|---|
$LOGBOOK.$SCRN_FL | BOOLEAN | FALSE | FALSE/TRUE | Screen filter is disabled/enabled |
$LOGBOOK.$SCRN_NO_ENT | BOOLEAN | TRUE | FALSE/TRUE | TRUE: Events on registered screens are not recorded. Events on other screens are recorded. FALSE: Events on registered screens are recorded Events on other screens are not recorded. |
$LOGBOOK.$NUM_SCRN_FL | Integer | 20 | 1,200 | Number of $LOG_SCRN_FL |
$LOG_SCRN_FL[ ].$SCRN_ID | ULONG | 0 | 0,4294967295 | Screen ID of screen for filter |
$LOG_SCRN_FL[ ].$SP_ID | ULONG | 0 | 0,4294967295 | Softpart ID of screen for filter |
To filter screens so that passwords are not recorded, set the following:
$LOGBOOK.$SCRN_FL = TRUE $LOG_SCRN_FL[1].$SP_ID = 935 $LOG_SCRN_FL[1].$SCRN_ID = 1
If you have an iPendant, you can find the softpart ID and screen ID for the menus currently loaded on your system. Go to the DISP MENU, select HELP/DIAGNOSTICS, then select Menu Help from the flyout menu.