Position / Motor-current recording

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Good morning.

I'm using an IRB140-IRC5 system with RobotStudio 5.12.

I would like register the axis position and motor current DURING l'execution of a generic movement. E.g.: I should record joints-position and motor-current every 0.01s during a generic movement.

Someone has suggestions? Ideas?

Thank you very much...

Regards

Klaus

You have to use multitasking. Make a task that read current joint pos and loop.

If you use multitasking your loop must not be under 0.05 sek. then the system will generate CPU error

BR Klaus

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Thank you very much, Klaus.

I'll try this solution.

Bye

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