Part Feeding Log File
Operation Overview
The Part Feeding log file is a log file that records the following actions performed as part of the process of operations, and the operation time and results.
- Vision processing
- Feeder control
- Callback function operation (Robot, Status)
The Part Feeding log file can be used to perform the following.
- Check the cycle time for part pick up.
- Check the number of parts that can be picked up with each attempt in order to adjust the hopper feed amount.
- Check and make improvements to actions taking up an undue amount of time based on operation processing times.
Note that the Controller must be connected to the PC to use this function.
Enabling the Log Function
Connect the Controller to the PC. Program PF_InitLog to run before PF_Start.
Refer to the following for further details.
PF_InitLog
Log File Format
Common Items
Log files are in CSV format. File names are specified as a PF_InitLog parameter.
The following data is recorded in chronological order to a single log file. The "Data" fields vary depending upon the log Type. All other fields are common.
| Column | Column name | Format | Details |
|---|---|---|---|
| 1 | DateTime | Character string | Time action started (yyyy/mm/dd hh:MM:ss) |
| 2 | Tick | Real value | Time elapsed since PF_Start started running [seconds] (s.sss) |
| 3 | Time | Real value | Processing time [seconds] (s.sss) |
| 4 | Type | Character string | Operation Type |
| 5 | ID | Integer number | Part ID |
| 6 | Data1 | Varies depending on the data type (Type). | |
| 7 | Data2 | ||
| 8 | Data3 | ||
| 9 | PartName | Character string | Name of the part |
| 10 | RobotNo | Integer number | Robot number assigned to the part |
| 11 | FeederNo | Integer number | Feeder number assigned to the part |
| 12 | Project | Character string | EPSON RC+ project name |
The relationship between the DateTime reading and the Tick, Time reading is as shown in the diagram below.
Vision Sequence Log
This log records the time required by the Part Feeding process to process the vision sequence specified by the Part Vision Sequence described in Vision, the number of parts detected facing up, and the number of parts facing down.
Refer to the following section for further details.
Vision
| Column | Column name | Format | Details |
|---|---|---|---|
| 4 | Type | Character string | Log type ("UserVision") |
| 5 | ID | Integer number | Part ID |
| 6 | NumFront | Integer number | Number of parts facing up |
| 7 | NumBack | Integer number | Number of parts facing down |
System Vision Sequence Log
This log records the time required by the Part Feeding process to process the vision sequence generated internally to detect the distribution of parts, etc.
| Column | Column name | Format | Details |
|---|---|---|---|
| 4 | Type | Character string | Log type ("SystemVision") |
| 5 | ID | Integer number | Part ID |
Vibration Log
This log records types of feeder vibration actions performed by the System or by the User.
| Column | Column name | Format | Details | |
|---|---|---|---|---|
| 4 | Type | Character string | Operation type: | |
| Separation | Separate | |||
| Centering | Centering | |||
| Shift | Shift | |||
| BackShift | BackShift | |||
| Flip | FlipFlip | |||
| CenterByShift | CenterByShift | |||
| Purge | Purge | |||
| QtyAdjHopperTime | QtyAdjHopperTime | |||
| 5 | ID | Integer number | Part ID | |
| 6 | Callback Name | Character string | Name of the callback (or System) where the vibration was executed: | |
| System | Feeder | |||
| Robot | Vision System | |||
| Control | MobileCam | |||
| CycleStop | Status | |||
Timing Diagram: User Vibration executed inside a Callback
Timing Diagram: System Vibration
KEY POINTS
The Data1 column in the log file will show "System" if the vibration is performed by the system. Otherwise, Data1 will show the name of the Callback where the User executed the vibration.
PF_Robot Callback Function Log
This log records the number of parts processed with the PF_Robot callback function.
| Column | Column name | Format | Details |
|---|---|---|---|
| 4 | Type | Character string | Operation type ("Robot") |
| 5 | ID | Integer number | Part ID |
| 6 | Num | Integer number | Number of Parts Processed (active parts only) (Number of registered entries in the coordinates queue before calling - Number of registered entries in the coordinates queue after calling) |
PF_MobileCam Callback Function Log
This log records the PF_MobileCam callback function action type.
| Column | Column name | Format | Details | |
|---|---|---|---|---|
| 4 | Type | Character string | Operation type ("MobileCam") | |
| 5 | ID | Integer number | Part ID | |
| 6 | Action | Integer number | Move robot to the image capture position | 2001 |
| Retract the robot | 2002 | |||
PF_Control Callback Function Log
This log records the PF_Control callback function action type.
| Column | Column name | Format | Details | |
|---|---|---|---|---|
| 4 | Type | Character string | Operation type ("Control") | |
| 5 | ID | Integer number | Part ID | |
| 6 | Action | Integer number | Hopper operation (no parts) | 2100 |
| Hopper operation (add parts) | 2101 | |||
| User lighting On | 2102 | |||
| User lighting Off | 2103 | |||
Timing Diagram: Vision with Front Light
Timing Diagram: User Vibration executed inside PF_Control Callback
PF_Status Callback Function Log
This log records the PF_Status callback function status type.
| Column | Column name | Format | Details | |
|---|---|---|---|---|
| 4 | Type | Character string | Operation type ("Status") | |
| 5 | ID | Integer number | Part ID | |
| 6 | Status | Integer number | The status or user error occurred | |
| Normal | 0 | |||
| Parts not supplied | 2200 | |||
| Excessive parts | 2201 | |||
| Invalid ID | 2202 | |||
| Invalid parameter | 2203 | |||
| Calibration not complete | 2204 | |||
| A system error occurred | 2205 | |||
| Undetectable part(s) present | 2206 | |||
| Part blob sequence failure | 2207 | |||
| Part vision sequence failure | 2208 | |||
| Feeder in use | 2209 | |||
| Part disabled | 2210 | |||
| Purge disabled | 2211 | |||
| User Error | 8000 - 8999 | |||
PF_Vision Callback Function Log
This log records the number of parts detected with the PF_Vision callback function that are facing up/down.
| Column | Column name | Format | Details |
|---|---|---|---|
| 4 | Type | Character string | Operation type ("VisionCallback") |
| 5 | ID | Integer number | Part ID |
| 6 | NumFront | Integer number | Number of parts detected that are facing up |
| 7 | NumBack | Integer number | Number of parts detected that are facing down |
Timing Diagram: User Vibration executed inside PF_Vision Callback
PF_Feeder callback Function
This log records the PF_Feeder callback function state type.
| Column | Column name | Format | Details | |
|---|---|---|---|---|
| 4 | Type | Character string | Operation type ("Feeder") | |
| 5 | ID | Integer number | Part ID | |
| 6 | State | Integer number | Recommended Action: | |
| Plate Type is Structured | 0 | |||
| OK to pick | 1 | |||
| Supply more parts | 2 | |||
| Flip | 3 | |||
| Shift | 4 | |||
| Center & Flip | 5 | |||
| Hopper is empty | 6 | |||
| Shift Backwards | 7 | |||
| Hopper supply, Center & Flip | 8 | |||
| Too many parts | 9 | |||
| Wrong part | 10 | |||
Timing Diagram: User Vibrations executed inside PF_Feeder Callback
PF_CycleStop Callback Function Log
This log records the PF_CycleStop callback function state type.
| Column | Column name | Format | Details |
|---|---|---|---|
| 4 | Type | Character string | Log type ("CycleStop") |
| 5 | ID | Integer number | Part ID |
Log Sample
The following is a sample of a Part Feeding log.
