# Export real TCP velocity and position during a movement using rapid programming?

**URL:** <https://tech-community.robotics.abb.com/t/export-real-tcp-velocity-and-position-during-a-movement-using-rapid-programming/9401>\
**Category:** RAPID Programming\
**Created:** [March 31, 2020, 8:07am UTC](https://tech-community.robotics.abb.com/t/export-real-tcp-velocity-and-position-during-a-movement-using-rapid-programming/9401 "2020-03-31T08:07:49Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![HossamElaarag](https://avatars.discourse-cdn.com/v4/letter/h/858c86/32.png) [@HossamElaarag](https://tech-community.robotics.abb.com/u/HossamElaarag)\
**Post date:** [March 31, 2020, 8:07am UTC](https://tech-community.robotics.abb.com/t/export-real-tcp-velocity-and-position-during-a-movement-using-rapid-programming/9401/1 "2020-03-31T08:07:49Z")

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I would like to export sampling data of real TCP velocity and position during robot movement in a specific trajectory using rapid programming. Signal analyser can record the real robot velcoity and position during a movment, I would like to do exactly the same as signal analyser do but with rapid coding, is it possible ?  
Thank you

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**Author:** ![tnixon](https://avatars.discourse-cdn.com/v4/letter/t/b19c9b/32.png) [@tnixon](https://tech-community.robotics.abb.com/u/tnixon)\
**Post date:** [March 31, 2020, 11:46am UTC](https://tech-community.robotics.abb.com/t/export-real-tcp-velocity-and-position-during-a-movement-using-rapid-programming/9401/2 "2020-03-31T11:46:19Z")

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Look at system output TCPSpeed in the Rapid System Parameters manual. In the past I have used a timed interrupt to get the current position (CPos command) and set the X, Y and Z values to a group output every second.

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**Author:** ![HossamElaarag](https://avatars.discourse-cdn.com/v4/letter/h/858c86/32.png) [@HossamElaarag](https://tech-community.robotics.abb.com/u/HossamElaarag)\
**Post date:** [March 31, 2020, 3:18pm UTC](https://tech-community.robotics.abb.com/t/export-real-tcp-velocity-and-position-during-a-movement-using-rapid-programming/9401/3 "2020-03-31T15:18:53Z")

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@ tnixon, thank you for your reply. I would really appreciate if you could send me an example of rapid coding for such case or even for your case with CPose and interrupt timing. I am a little bit lost.

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**Author:** ![LauraVALDES](https://avatars.discourse-cdn.com/v4/letter/l/eb9ed0/32.png) [@LauraVALDES](https://tech-community.robotics.abb.com/u/LauraVALDES)\
**Post date:** [March 20, 2024, 6:23am UTC](https://tech-community.robotics.abb.com/t/export-real-tcp-velocity-and-position-during-a-movement-using-rapid-programming/9401/4 "2024-03-20T06:23:20Z")

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Hello, I would utliter this rapid coding for writing the coordinates real during a movement, could you send me please?