Kawasaki Robot Controller

D/E Series

Data Storage Function

Manual

(Option)

Kawasaki Heavy Industries, Ltd.

90210－1213DEB
D/E Series Controller
Kawasaki Robot Data Storage Function Manual

PREFACE

This manual gives instructions for using the Data Storage Function with the D/E Series
Controller.

This manual provides as much detailed information as possible on the standard operating
methods for using this function. However, not every possible operation, condition or situation
that should be avoided can be described in full. Therefore, should any unexplained questions
or problems arise during robot operation, please contact Kawasaki. Refer to the contact
information listed on the rear cover of this manual for the nearest Kawasaki office.

Read the Basic Manuals (including safety manual), delivered with the robot, without fail
together with this manual. Do not perform any procedure described herein until the contents
of this manual are fully understood.

The descriptions in this manual are common to D and E series controllers, unless otherwise
specified. Simple differences between them are described by using “/” in order of D series
controller/ E series controller.

1. This manual does not constitute a guarantee of the systems in which the robot is utilized.
Accordingly, Kawasaki is not responsible for any accidents, damages, and/or problems
relating to industrial property rights as a result of using the system.
2. It is recommended that all personnel assigned for activation of operation, teaching,
maintenance or inspection of the robot attend the necessary education/training course(s)
prepared by Kawasaki, before assuming their responsibilities.
3. Kawasaki reserves the right to change, revise, or update this manual without prior notice.
4. This manual may not, in whole or in part, be reprinted or copied without the prior written
consent of Kawasaki.
5. Store this manual with care and keep it available for use at any time. If the robot is
reinstalled or moved to a different site or sold off to a different user, attach this manual to
the robot without fail. In the event the manual is lost or damaged severely, contact
Kawasaki.
All rights reserved. Copyright © 2009 Kawasaki Heavy Industries Ltd.

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D/E Series Controller
Kawasaki Robot Data Storage Function Manual

SYMBOLS

The items that require special attention in this manual are designated with the following
symbols.

Ensure proper and safe operation of the robot and prevent physical injury or property damages
by complying with the safety matters given in the boxes with these symbols.

！ DANGER

Failure to comply with indicated matters can result in

imminent injury or death.

！ WARNING

Failure to comply with indicated matters may possibly

lead to injury or death

！ CAUTION

Failure to comply with indicated matters may lead to

physical injury and/or mechanical damage.

[ NOTE ]
Denotes precautions regarding robot specification,
handling, teaching, operation, and maintenance.

！ WARNING
1. The accuracy and effectiveness of the diagrams, procedures, and detail
explanations given in this manual cannot be confirmed with absolute
certainty. Accordingly, it is necessary to give one’s fullest attention when
using this manual to perform any work.
2. Safety related contents described in this manual apply to each individual
work and not to all robot work. In order to perform every work in safety,
read and fully understand the safety manual, all pertinent laws, regulations
and related materials as well as all the safety explanations described in each
chapter, and prepare safety measures suitable for actual work.

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D/E Series Controller
Kawasaki Robot Data Storage Function Manual

INTRODUCTORY NOTES

1. HARDWARE KEYS AND SWITCHES (BUTTONS)

D/E series controller provides hardware keys and switches on the operation panel and the teach
pendant for various kinds of operations. In this manual, the names of the hardware keys and
switches are enclosed with a square as follows. The terms “key” or “switch” which should
follow the relevant names are sometimes omitted for simpler expression. When pressing two
or more keys at the same time, the keys are indicated by “+” as shown in the example below.

EXAMPLES
SELECT : expresses the hardware key “SELECT”.

A + MENU : indicates pressing and holding down A then pressing MENU.

2. SOFTWARE (ON-SCREEN) KEYS AND SWITCHES

D/E series controller provides software (on-screen) keys and switches which appear on the
screen of the teach pendant for various kinds of operations depending on specifications and
situations. In this manual, the names of software keys and switches are enclosed in
parentheses “< >”. The terms “key” or “switch” which should follow the relevant names are
sometimes omitted for simpler expression.

EXAMPLES
<ENTER> : expresses an “ENTER” key that appears on the teach pendant screen.
<NEXT PAGE> : expresses a “NEXT PAGE” key on the teach pendant screen.

3. SELECTION ITEMS

Quite often an item must be selected from a menu or pull-down menu on the teach pendant
screen. In this manual, the names of these menu items will be enclosed in brackets [XXX].

EXAMPLES
[BASIC SETTING] : expresses the item “BASIC SETTING” in a menu. To select it,
press the “SELECT” key after moving the cursor to the relevant item
by the arrow keys. For detailed description, this procedure should be
described every time, but “select [XXX] item” will be used instead for
simpler expression.

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D/E Series Controller
Kawasaki Robot Data Storage Function Manual

CONTENTS
CONTENTS

Preface ········································································································································1
Symbols ········································································································································2
Introductory Notes··························································································································3

1.0 Outline of Data Storage Function ···················································································5

2.0 Graph Screen of Data Storage Function ·········································································6
2.1 Outline of Graph Screen·································································································7
2.1.1 Joint Data Display Screen·······························································································7
2.1.2 I/O Signal Display Screen ······························································································8
2.2 Data Storage Condition and Menu Contents ··································································9
2.2.1 Current Data ···················································································································9
2.2.2 Trigger Detection Wait ···································································································9
2.2.3 Logging Now ···············································································································10
2.2.4 Data Display·················································································································10
3.0 Data Setting·················································································································· 11
3.1 Setting of Sampling Interval, Y-Axis Upper And Lower Limit ···································· 11
3.2 Setting of Graph Data···································································································12
3.2.1 Joint Data （Except for XYZOAT, Tool Speed, I/O Signal, Combination）··················12
3.2.2 XYZOAT Data ·············································································································13
3.2.3 Tool Speed····················································································································14
3.2.4 I/O Signal ·····················································································································15
3.2.5 Combination·················································································································16
3.3 Trigger Setting··············································································································17
4.0 Graph Data Display······································································································19
4.1 Data Management ········································································································20
4.2 Data Display·················································································································20
4.2.1 Temporary Save············································································································20
4.2.2 Device Setting (Only for D Series Controllers) ····························································21
4.2.3 Load Data (Only for E Series Controller)·····································································22
4.3 Data Save ·····················································································································23
4.4 Temporary Save············································································································24
5.0 Data Saving Format······································································································25

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D/E Series Controller 1. Outline of Data Storage Function
Kawasaki Robot Data Storage Function Manual

1.0 OUTLINE OF DATA STORAGE FUNCTION

This function enables data such as joint angle, speed, deviation, I/O signal, etc. to be displayed
in graph form on the LCD screen of the teach pendant. Displayed graph data can be saved in
CSV format. In addition, the trigger function of the data storage function enables the graph
data to be recorded automatically at a wide variety of specifiable times, such as when error
occurs, motor power is turned ON, at signal ON or OFF, etc.

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D/E Series Controller 2. Graph Screen of Data Storage Function
Kawasaki Robot Data Storage Function Manual

2.0 GRAPH SCREEN OF DATA STORAGE FUNCTION

Pressing MENU on the teach

pendant displays a pull-down
menu as shown in the left figure.

Select [Data Storage] in the

pull-down menu to display the
left figure.

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D/E Series Controller 2. Graph Screen of Data Storage Function
Kawasaki Robot Data Storage Function Manual

2.1 OUTLINE OF GRAPH SCREEN

2.1.1 JOINT DATA DISPLAY SCREEN

The following describes an outline of graph screen.

· Current data storage condition and data type name are displayed on the title bar.
· Legend (data names and their colors in the currently displayed graphs) is displayed on the left
of the graph.
· The cursor (red square) is displayed on the name of a data item. Move the cursor by
pressing ↑ / ↓ to select a data item. Pressing SELECT/ENTER enables/disables
displaying the selected data.
· Upper and lower limits of Y-axis are displayed next to Max and Min.
· Y-Axis mag. indicates Y-axis magnification. Press S/A＋↑ / S/A＋↓ to magnify /
reduce Y-Axis mag. Magnification range is 2 n ( -6 ≦ n ≦ 6 ).
· Sampling interval (ms) is displayed at the bottom of the screen. Shorter sampling interval
allows more detailed graph data.
· 1 Block 10 Points. indicates X-axis magnification. 1 block has interval between gray grid
lines on the graph. X-axis magnification is represented by the number of the samples per
block. 10 points of graph data are displayed per block in the figure above.
· Press S/A＋← / S/A＋→ to magnify / reduce X-axis mag. Magnification range is 1, 5,
10, 50, 100 points (samples) per a block.
· Press MENU or anywhere on the touch panel outside the graph to display the data storage
pull-down menu. This menu is described in detail in 2.2.

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D/E Series Controller 2. Graph Screen of Data Storage Function
Kawasaki Robot Data Storage Function Manual

2.1.2 I/O SIGNAL DISPLAY SCREEN

Current data. (I/O Signal) screen can display up to 16 data items on the graph. The screen
display is basically the same as that of JOINT DATA (2.1.1) except that only I/O signal data are
displayed and magnifying / reduction of Y-axis are not available.
Graph data from signal channel CH1 to CH16 are displayed starting from the top. Data of
CH1-CH8 and CH9-CH16 are indicated by the same colors.

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D/E Series Controller 2. Graph Screen of Data Storage Function
Kawasaki Robot Data Storage Function Manual

2.2 DATA STORAGE CONDITION AND MENU CONTENTS

The selection items available in the pull-down menu vary depending on the currently selected
data storage condition that is displayed on the title bar. The sections below describe each data
storage condition and the menu contents.

2.2.1 CURRENT DATA

Current data is displayed in real-time. Data logging is not started at this time. Menu
contents displayed in this condition are below.

Menu items Descriptions

Start Starts data logging.
Setting Sets graph data.
Data load Displays saved graph data.
Data Save (unavailable) Saves currently displayed graph data.
Temporary Save (unavailable) Temporarily saves currently displayed graph data.
This data is cleared at controller power OFF → ON.

2.2.2 TRIGGER DETECTION WAIT

Data logging is started and running until the set trigger is detected. Menu contents displayed
in this condition are below.

Menu items Descriptions

Setting Sets graph data.
Data load Displays saved graph data.
Data Save (unavailable) Saves currently displayed graph data.
Temporary Save (unavailable) Temporarily saves currently displayed graph data.
This data is cleared at controller power OFF → ON.

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D/E Series Controller 2. Graph Screen of Data Storage Function
Kawasaki Robot Data Storage Function Manual

2.2.3 LOGGING NOW

Data logging is running now. During logging execution the “STOP” displayed at bottom right
of screen changes to blinking “Logging…” and the elapsed time is shown counting upward
Menu contents displayed in this condition are below.

Menu items Descriptions

Stop Stops data logging.
Setting Sets graph data.
Data load (unavailable) Displays saved graph data.
Data Save (unavailable) Saves currently displayed graph data.
Temporary Save (unavailable) Temporarily saves currently displayed graph data.
This data is cleared at controller power OFF → ON.

2.2.4 DATA DISPLAY

Data logging has completed and the logged graph data is displayed. Menu contents displayed
in this condition are below.

Menu items Descriptions

Delete Cur. Data Deletes the log data.
Setting Sets graph data
Data load Displays saved graph data.
Data Save Saves currently displayed graph data.
Temporary Save Temporarily saves currently displayed graph data.
This data is cleared at controller power OFF → ON.

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D/E Series Controller 3. Data Setting
Kawasaki Robot Data Storage Function Manual

3.0 DATA SETTING

Press MENU or anywhere on the touch panel outside the graph to display the pull-down menu.
Selecting [Setting] in the pull-down menu displays data types (1-11) below. This screen can
also be called up by selecting [Aux.708-1. Setting] directly via the Auxiliary Func. menu.

3.1 SETTING OF SAMPLING INTERVAL, Y-AXIS UPPER AND LOWER LIMIT

Select a data type and press SELECT /ENTER to call up the setting screen below. Time
Interval Setting (Sampling interval) and Y Axis Upper Limit and Lower Limit are set in this
screen.

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D/E Series Controller 3. Data Setting
Kawasaki Robot Data Storage Function Manual

[Time Interval Setting] is the acquisition interval for the graph data. Setting 256 ms reads and
logs data every 256 ms. Inputting data for the [Upper Limit] and [Lower Limit] specifies the
Y axis scale in mag. factor of 1 when displaying it on the graph screen. (Y-Axis Upper Limit/
Lower Limit can not be set in Aux.708-1-10 I/O Signal screen.) Input the data and press ↵ to
display the graph data setting screen.

3.2 SETTING OF GRAPH DATA

Graph data setting screens vary depending on the data type selected in Aux.708-1 screen. The
following sections describe the setting screens for each data types.

3.2.1 JOINT DATA （EXCEPT FOR XYZOAT, TOOL SPEED, I/O SIGNAL,
COMBINATION）

CH1-CH8 indicate the channel number of each graph data. Settable data items and the
respective numbers that specify them are on the right of the screen. The data set by numbers
-5 to –1 output as 1 when the conditions of data become the ones in the figure below, and its
graph data is displayed like signal data. Input 0 (Not Use) to set a channel unused. JT No.
represents joint numbers. The contents of setting screen for each axis data is the same
regardless of the type of the graph data.

Input the number that specifies data item to be displayed on the log graph and press ↵ to jump
to the trigger setting screen. (see 3.3) If all channels are set to 0 (unused), error occurs and
trigger setting screen is not displayed. Setting the same number into several channels causes
overlap error and trigger setting screen is not displayed.

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D/E Series Controller 3. Data Setting
Kawasaki Robot Data Storage Function Manual

Data Condition in which 1 is output

RGSO Outputs 1 when robot gets ready for its motion and starts the motor control.
Brake signal Outputs 1 when a motor brake is released.
Stage signal Outputs 1 when robot gets ready. (In repeat mode: Motor power is turned
ON. In teach mode: Trigger is turned ON.)
Axis Coincidence Outputs 1 when robot reaches the target pose at each step.
Step up Outputs 1 when step of program in progress is switched.

3.2.2 XYZOAT DATA

Except for XYZOAT, the data setting is the same as in JT Angle screen. (see 3.2.1) The
numbers that specify data 1-6 are allocated to each data of X, Y, Z, O, A and T. The number 7
and above are for external axes.

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D/E Series Controller 3. Data Setting
Kawasaki Robot Data Storage Function Manual

3.2.3 TOOL SPEED

Except for Tool Speed, the data setting is the same as in JT Angle screen. Data number 1 is
allocated to Tool Speed, while JT No. can not be set in this screen.

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D/E Series Controller 3. Data Setting
Kawasaki Robot Data Storage Function Manual

3.2.4 I/O SIGNAL

Sixteen channels, CH1-CH16, can be set in the screen above. Settable data items and the
respective numbers that specify them are on the right of the screen.

Input the number that specifies data item to be displayed on the log graph and press ↵ to jump
to the trigger setting screen. If the input number is outside the settable range shown on the
right or if all channels are set to 0 (unused), error occurs and trigger setting screen is not
displayed.
Setting the same signal number into several channels causes overlap error and trigger setting
screen is not displayed.

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D/E Series Controller 3. Data Setting
Kawasaki Robot Data Storage Function Manual

3.2.5 COMBINATION

CH1-CH6 and CH7-CH8 are allocated to joint data and signal data respectively in the screen
above. Input numbers 1-9 to specify data from the right side into [Type] of CH1-CH6.
Input 0 to set the channel unused. Set joint numbers into [JT No.] of CH1-CH6. The
following combinations of Type and JT No. cause error when recording the set data.

Combinations Errors
Type = 0, JT No. = 0- max. joint num. Error occurs when registering if all channels are
set unused. Set Joint No. is recorded as it is.
Type ≠ 0, JT No.= 0 Error occurs if registering without setting JT No.
However, no error occurs and trigger setting
screen is displayed if another channel is valid.
Type ≠ 0, JT No. ≠ 0 Overlap error occurs if the same combination of
Type and JT No. is set to other channels.

Set data numbers of OX, WX, INT, Step Up, Axis Coincidence, Stage Signal, Brake Signal and
RGSO into CH7 and CH8. Input 0 to set the channel unused. If the same numbers are set
into CH7and CH8, overlap error occurs and trigger setting screen is not displayed.

Input data to be displayed and press ENTER to jump to trigger setting screen.
If all channels are set unused (0), error occurs and trigger setting screen is not displayed.

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D/E Series Controller 3. Data Setting
Kawasaki Robot Data Storage Function Manual

3.3 TRIGGER SETTING

Trigger setting screen below is displayed when data setting has been completed properly.

Setting Trigger Conditions allows data logging to start per the conditions specified here.
Trigger Conditions and descriptions are below.

Trigger Conditions Descriptions

Motor Power ON Data logging starts when the motor power is turned ON.
Error Data logging starts if a specified error occurs. Set all Error No. to 0 to
start data logging when any error occurs. If an Error No. is set to any
numbers other than 0, data logging does not start until the specified
error occurs. 5 Error Nos. can be specified.
Up Signal Data logging starts when a specified Signal No. is turned ON.
Down Signal Data logging starts when a specified Signal No. is turned OFF.
Trigger Level Data logging starts when data value of a specified CH No. exceeds
(Up) or falls below (Down) the specified level. If a specified CH No.
is a signal data such as RGSO and Signal number, the specified level
is ignored and data logging starts only when the signal data is turned
ON or OFF.

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D/E Series Controller 3. Data Setting
Kawasaki Robot Data Storage Function Manual

Each Trigger Condition only works if set to [Enable]. If several Trigger Conditions are set to
[Enable], logging starts when any of them is detected. Specify [Sampling Time] to
automatically end the data logging started by trigger detection. Settable maximum [Sampling
Time] is determined by Sampling interval.(see 3.1) A 2 ms Sampling interval allows data
logging for 2028 ms, 1024 ms Sampling interval allows for 1038336 ms. Specify [Trigger
Position] (ms) to set a time for the logging to start before trigger is detected. If [Sampling
Time] is set to 10000 ms and [Trigger Position] is set to 100 ms, logging starts 100 ms before
the specified trigger is detected and ends after 9900 ms.
In case of Sampling Time ≦ Trigger Position, error occurs when registering by pressing ↵.

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D/E Series Controller 4. Graph Data Display
Kawasaki Robot Data Storage Function Manual

4.0 GRAPH DATA DISPLAY

Logging data is displayed when logging has completed.

The following key and touch panel operations are available while graph data is displayed.
・ Press ← to move graph back 6 blocks.
・ Press → to advance graph 6 blocks.
・ Pressing A＋← to move to the head of the graph. (Only for D series controllers.)
・ Pressing A＋→ to advance to the end of the graph. (Only for D series controllers.)
・ Touch any point on the scroll bar under the graph to move to any graph position.
・ Touch anywhere on the graph to magnify X-axis with view centered on touched point.
・ Touch anywhere on the graph while pressing S/A to reduce X-axis with view centered on
touched point.

The vertical white line in the graph indicates logging start position. This moves depending on
the [Trigger Position] when logging was started by trigger detection

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D/E Series Controller 4. Graph Data Display
Kawasaki Robot Data Storage Function Manual

4.1 DATA MANAGEMENT

Logging data is cleared when turning controller power OFF→ ON. Several logging data can
be stored in the internal memory. In addition, logging data can be saved on to and loaded
from an external memory device.

4.2 DATA DISPLAY

Pressing MENU or any part of the touch panel outside the graph displays the pull-down menu.
Select [Data load] from the menu to display the next screen.

D series controller E series controller

4.2.1 TEMPORARY SAVE

Select [1.Temporary save] to

display the left screen.
Input number of data to be
displayed to [Memory No.] and
press ↵ to load and display the
graph data on the data storage
screen.

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D/E Series Controller 4. Graph Data Display
Kawasaki Robot Data Storage Function Manual

4.2.2 DEVICE SETTING (ONLY FOR D SERIES CONTROLLERS)

Select [2.Device Setting] in

AUX.708-4 screen (top figure
in previous page) to display the
left figure.

Selecting [File Name] displays

file name list in Select file
screen as shown here. Select a
file name from the list and press
SELECT/ENTER or input a file
name using the keyboard screen
displayed when selecting [Input
char].

Pressing ↵ loads the specified

data and displays the graph data
when loading has completed
properly.

Currently displayed logging data is deleted when loading has completed.

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D/E Series Controller 4. Graph Data Display
Kawasaki Robot Data Storage Function Manual

4.2.3 LOAD DATA (ONLY FOR E SERIES CONTROLLER)

Select [2. Load data] in AUX.708-4 screen to

display the left screen.

Select a file name from the list and press

ENTER or input a file name using the
keyboard screen displayed when selecting
[Input char].

Pressing [Load] loads the specified data and

displays the graph data when loading has
completed properly.

Currently displayed logging data is deleted when loading has completed.

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D/E Series Controller 4. Graph Data Display
Kawasaki Robot Data Storage Function Manual

4.3 DATA SAVE

Pressing MENU or any part of the touch panel outside the graph displays the pull-down menu.
Select [Data Save] from the menu to display the left figure. See 4.2.2 and 4.2.3 for instructions
on selecting a file name.

D series controller E series controller

Pressing ↵ saves currently displayed logging data.

D series controller E series controller

Graph data is converted into CSV format when saved on to an external device. For details on
CSV data format, refer to 5.0. To save the temporary saved data, the data first needs to be
loaded and displayed from AUX.708-4 screen before saving. For data display steps, refer to
4.2.

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D/E Series Controller 4. Graph Data Display
Kawasaki Robot Data Storage Function Manual

4.4 TEMPORARY SAVE

Pressing MENU or any part of

the touch panel outside the
graph displays a pull-down
menu. Select [Temporary Save]
to display the left figure.
Input number of data to be
saved to [Memory No.] and
press ↵ to copy currently
displayed logging data into
temporary save area.

Temporary saved data is cleared when turning controller power OFF→ ON.

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D/E Series Controller 5. Data Saving Format
Kawasaki Robot Data Storage Function Manual

5.0 DATA SAVING FORMAT

Graph data is converted into CSV format when saved on to an external device. The contents
of the converted data are below.

.STORAGE
TITLE, Joint value
INITIAL,625,1,8
TRG_TIME,4,1,28,11,43,51
TRG_MTR,0
TRG_ERR,0
TRG_ECODE,0,0,0,0,0
TRG_USIG,1,10
TRG_DSIG,0,0
TRG_RNO_USIG,0 (Only for E series controllers)
TRG_RNO_DSIG,0 (Only for E series controllers)
TRG_LVL,0,1,0,0
TRG_SAMPLE,625
TRG_SET_SEC,6
TRG_SEC,6
SAMPLE_TIME,16
UL_LIMIT,1000,-1000
LOG_TIME,1075257831
UNIT,[s], 1[deg], 2[deg], 3[deg], 4[deg], 5[deg], 6[deg], -2, -1
RNO, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 (Only for E series controllers)
DATA 1,0.016,-5.741,30.455,-28.996,3.238,5.695,15.025,0,0
DATA 2,0.032,-5.740,30.410,-28.104,3.235,4.339,14.717,0,0
DATA 3,0.048,-5.739,30.365,-27.202,3.233,2.960,14.404,0,0
DATA 4,0.064,-5.739,30.319,-26.303,3.232,1.578,14.089,0,0
DATA 5,0.080,-5.738,30.273,-25.420,3.230,0.211,13.776,0,0
･･･
DATA 621,9.936,-5.737,30.183,-23.736,3.226,-2.421,13.171,0,0
DATA 622,9.952,-5.736,30.141,-22.949,3.224,-3.662,12.885,1,0
DATA 623,9.968,-5.735,30.101,-22.207,3.223,-4.840,12.612,1,1
DATA 624,9.984,-5.735,30.063,-21.513,3.221,-5.949,12.355,1,1
DATA 625,10.000,-5.734,30.027,-20.870,3.220,-6.985,12.114,0,0
END
.END

25
D/E Series Controller 5. Data Saving Format
Kawasaki Robot Data Storage Function Manual

Tag Descriptions
TITLE,[Character strings] Title of graph data.
INITIAL, [Data points], [Data type], [The Internal data to be loaded.
number of channels]
TRG_TIME,[yy],[mm],[dd],[H],[M],[S] Logging start time in yy/mm/dd H:M:S format.
TRG_MTR,[ON=1/OFF=0] Trigger Conditions: Motor Power ON Enable /
Disable
TRG_ERR,[ON=1/OFF=0] Trigger Conditions: Error Enable / Disable
TRG_ECODE,[ERR1], ... ,[ERR5] Error No. 1-5
TRG_USIG, [ON=1/OFF=0], [Signal No.] Trigger Conditions: Up Signal Enable / Disable
TRG_DSIG, [ON=1/OFF=0], [Signal No.] Trigger Conditions: Down Signal Enable /
Disable
TRG_RNO_USIG, Robot No. (Only for E Robot No. with Up signal / Robot No. with
series controller.) Down signal
TRG_LVL, [ON=1/OFF=0], Trigger Conditions: Trigger Level Enable /
[Channel No.], [Level], Disable
[Up= 0 / Down= 1]
SAMPLING_TIME, [Sampling Interval] Sampling Interval
UL_LIMIT,[Upper Limit], [Lower Limit] Y-Axis Upper Limit / Lower Limit
LOG_TIME,[GMT] Internal data of logging time
UNIT, [s], [CH1-Info], ... , [CH8-Info] Graph data information related to DATA tag
below.
[s] is time elapsed since logging start.
[CH*-Info] is displayed in format below:
XYZOAT : (XYZOAT, external joint no. ) [unit]
I/O signal : Signal number
Others : Joint no. [unit]
RNO, [CH1-robotinfo], ... , Robot No. of the channel
[CH16-robotinfo] (Only for E series
controllers)
DATA [Data No.], [Logging time], [CH1- Channel Data
Data], ... , [CH 8-Data] For signal data ; ON=1 / OFF=0.
END End of channel data

Data may be not displayed correctly if any of the above data are changed.

26
 Kawasaki Robot Controller D/E Series
Data Storage Function Manual

October 2004 : 1st Edition

March 2009: 2nd Edition

Publication : KAWASAKI HEAVY INDUSTRIES, LTD.

90210-1213DEB

All rights reserved. Copyright © 2009 by KAWASAKI HEAVY INDUSTRIES, LTD.