Specifications of the MotionLogSystemType Node

This section describes the specifications of the MotionLogSystemType node.

For information on how to use it, refer to the following manual.

Acquisition of Sensor Data

This node is supported by firmware version 8.0.0.xx and later.

MotionLogSystemType ObjectType Definition

• Overview

  MotionLogSystemType refers to a monitoring system loaded in the Controller which monitors a robot’s motion log data.

  

ObjectType Definition

MotionLogSystemType is defined below.

Attribute	Value
BrowseName	MotionLogSystemType
IsAbstract	FALSE

References	Node Class	BrowseName	DataType	TypeDefinition	ModellingRule
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI)
HasComponent	Variable	DataType	UInt16	BaseDataVariableType	Mandatory
HasComponent	Variable	DataNum	UInt16	BaseDataVariableType	Mandatory
HasComponent	Variable	SamplingInterval	UInt16	BaseDataVariableType	Mandatory
HasComponent	Object	[MotionLogIdentifier]	-	Epson: MotionLogType	MandatoryPlace holder

ObjectType Description

• Variable DataType

  This is a configuration node for switching the dataset’s type. The only value this can be set to is “0”.

• Variable DataNum

  The DataNum node is used to specify the maximum number of data items to be acquired from the server at one time. The allowable values are described below.

  Value	Description
  0	Does not set maximum number of data items (Determined by server)
  1~ 200	Sets the maximum number of data items

  KEY POINTS

  ---

  We recommend setting this to “0” unless there is a special reason to do otherwise. If you do not set DataNum to “0” or a sufficiently high value, it may not be possible to acquire continuous Motion Log data.

• Variable SamplingInterval

  This node is used to set the sampling interval for data acquired from the server. The minimum value this can be set to is “0”. When the sampling interval value is set to a nonzero value “n”, you can acquire data at a sampling interval that is 2^n times that of when the value is zero. The allowable values are described below.

  Value	Description
  0~4	Sets the data sampling interval.

  KEY POINTS

  ---

  The smaller you set the SamplingInterval, the higher the sampling rate you can acquire. However, depending on the operational environment of the Controller, you may be unable to acquire continuous Motion Log data at the designated SamplingInterval. In such cases, set a larger SamplingInterval to improve the performance.

• Object [MotionLogIdentifier]

  [MotionLogIdentifier] indicates the channel by which data is acquired from the MotionLog function and expresses it with a MotionLogType instance.

  KEY POINTS

  ---

  If no data exists, the TIMESTAMP will become “0”. Because of this, the TIMESTAMP interval may not match the value set for the SamplingInterval.

  For the details on data format, refer to the following.

  Data Formatting

MotionLogType ObjectType Definition

• Overview

  MotionLogType indicates the data generated by a MotionLogSystemType instance (refer to Section 3.2.3.4). This Type is instantiated for each monitor channel contained in the MotionLogSystemType instance.

  

ObjectType Definition

MotionLogType is defined below.

Attribute	Value
BrowseName	MotionLogType
IsAbstract	FALSE

References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI)
HasComponent	Variable	Data	ByteString	BaseDataVariableType	Mandatory
HasComponent	Variable	LoggingStatus	String	BaseDataVariableType	Mandatory
HasComponent	Variable	DataExistsStatus	String	BaseDataVariableType	Mandatory
HasComponent	Variable	ErrorStatus	String	BaseDataVariableType	Mandatory

ObjectType Description

• Variable Data

  This is the node to which the data will be output. 　 When this node is read, the client can acquire data recorded by the MotionLog function.

  For the details of data format, refer to the following.

  Data Formatting

  If there is no data held inside the controller, Null is returned when the node is read.

• Variable LoggingStatus

  Indicates the status of data recording by the MotionLog function. The values are described in the following table.

  Value	Description
  Stop	Data recording by the MotionLog function is stopped.
  Run	Data recording by the MotionLog function is running.

• Variable DataExistsStatus

  Indicates whether data can be acquired from the Data node. The data acquisition timing can be determined from this value. The values are described in the following table.

  Value	Description
  Empty	Indicates that there is no data that can be acquired from the Data node
  Ready	Indicates that there is data that can be acquired from the Data node

• Variable ErrorStatus

  Indicates the occurrence of errors and warnings during data acquisition. From this value, you can determine how to handle the data. The values are described in the following table.

  Value	Description
  None	Indicates that there is no abnormality
  Warning	Indicates that data overwriting has occurred
  Error	Indicates that something has interrupted data recording by the MotionLog function.

  KEY POINTS

  ---

  When the ErrorStatus is “Error,” there is no guarantee that normal data can be read, so it is recommended that the OPC UA client stop data acquisition.

  When the ErrorStatus is “Warning,” it means that the acquired data is not contiguous. There is no problem with continuing to read data.

Example of address space

Indicates a series of instances of the Robot MotionLog data acquisition function’s address space.

Symbol	Description
a	Configuration node
b	Data acquisition node
c	Status indicator nodes