How to log the TCP speed every 0.01sec without using Multitask ()?

RobotStudio
1

Are there any way to do it smartly?

I’ve already found 2 ways to log the TCP speed.

  1. Use [Signal Analyzer Online] of RobotStudio by monitoring the System AO called [TCP Speed].
  2. Use [Multitask] option of IRC5 and create 2 tasks; one is the program of robot movements, and other is the logging program showing below.

–

MODULE MAINMODULE
VAR iodev logfile;
VAR clock clkv;

! Logging TCP Speed from System Analog Output every 5 [ms] using multitasking
PROC main()
ClkReset clkv;
ClkStart clkv;

! Create log file named “TCPSPEEDLOG_[DATE][TIME].csv”
Open “HOME:” \File:=“TCPSPEEDLOG_”+StrPart(CDate(),1,4)+StrPart(CDate(),6,2)+StrPart(CDate(),9,2)+StrPart(CTime(),1,2)+StrPart(CTime(),4,2)+StrPart(CTime(),7,2)+“.csv”, logfile \Write;
Write logfile, “TCP Speed Log”;
Write logfile, CDate()+“,”+CTime();
Write logfile, “”;
Write logfile, “Time [s],TCP Speed [mm/s],TCP Speed Reference [mm/s]”;

! Stop iteration when TASK “T_ROB1” is terminated by checking with DO112.
WHILE DO112=0 DO
Write logfile, ValToStr(ClkRead(clkv\HighRes))+“,”+ValToStr(AOutput(TCP_Speed)*1000)+“,”+ValToStr(AOutput(TCP_Speed_Reference)*1000);
WaitTime 0.01;
ENDWHILE
Close logfile;
TPWrite “FINISHED!”;
ClkStop clkv;
ClkReset clkv;
ENDPROC
ENDMODULE

2

Look up trap/interrupt procedures.