Hi
As Stuart mentioned tracking of the changes is best by using the Logged changes in the infotype program RPUAUD00.
But to get the results for the changes in IT 581 you have to make some configurations.
You have make the config in the revision section as shown below
Then the report will give you the required output of who, what and when changed.
Image may be NSFW.
Clik here to view.
If you need more info about config feel free to ask
Thanks