RobotStudio event

Save data (such as contact force) during MoveJ and FCPressL

Abdelkhalick
Abdelkhalick ✭
in RAPID Programming
I am trying to save data to a file during the movement of the robot under position/force control (i.e. MoveJ or FCPressL).

I could save the data (contact force) to a file while the stop of the robot, but during the movment, I could not!

Can you help me on this.

The code data saving is as follows:
---------------------------------------------------------------------
        Open FileLocation, File \Append;

        MoveJ pos2,v20,fine,tdDemo\WObj:=wobj0;
        
        WHILE j<=1000 DO
        WaitTime 0.01;
        fcForceReading:=FCGetForce(\ContactForce);
        RecordFz{j}:=fcForceReading.zforce;
        
        Write File, NumToStr(RecordFz{j},1)+", ";
        j:= j+1;
        ENDWHILE
--------------------------------------------------------------------
Best regards,
Abd El Khalick

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