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

Abdelkhalick

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:

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        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

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Best regards,
Abd El Khalick