Oscillograph Basics RTToolbox 3

Introduction

The oscillograph can display a graphical representation of a robot's various internal data. The data acquired from the robot can be saved in a CSV file. A program name, an execution row number, and an input-and-output signal are also simultaneously recordable in a CSV file.

There are two communication methods Ordinary and High speed. This article describes High speed method.

Communication method	Minimum data acqusition time
Ordinary	50 ms
High speed	3.5 ms (CR800)

When working in online mode do the following. Before entering online mode enable MONMODE and click write. Connect robot controller with a personal computer by Ethernet.

Allow RTToolbox 3 (MELFA_RT.exe) through Windows Firewall.

Communication settings

Open project in RToolbox 3 and start simulation mode or online mode. Then open Workspace - RC1 - Tool - Oscillograph.

Click Communication.

Select Method: Real time monitor and Data#1: Robot Information. Click Set.

How to use oscillograph

Click Start Record.

Run any program using Operation Panel. Select program and click Start.

When robot moves changes in for example 1-1:Tool point speed(FB) will be visible on oscillograph. Click Stop Record.

Unit of X axis is time (ms). Unit of Y axis depends on marker. Unit for 1-1:Tool point speed(FB) is distance (mm). There is more data that can be acquired from the robot.

More information in RToolbox 3 manual chapter Tool functions - Oscillograph.

Display/non-display of the data selected in the graph setting screen can be switched from the lower left list of the oscillograph screen.

The number of points to display can be changed only by slider operation.

If we need data for further analysis, there is a possibility to save log to csv file. Click Save Data to do that.