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

**URL:** <https://tech-community.robotics.abb.com/t/how-to-log-the-tcp-speed-every-0-01sec-without-using-multitask/10476>\
**Category:** RobotStudio\
**Created:** [November 25, 2021, 12:51pm UTC](https://tech-community.robotics.abb.com/t/how-to-log-the-tcp-speed-every-0-01sec-without-using-multitask/10476 "2021-11-25T12:51:38Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Hikaru\_KIMURA](https://avatars.discourse-cdn.com/v4/letter/h/9fc29f/32.png) [@Hikaru\_KIMURA](https://tech-community.robotics.abb.com/u/Hikaru_KIMURA)\
**Post date:** [November 25, 2021, 12:51pm UTC](https://tech-community.robotics.abb.com/t/how-to-log-the-tcp-speed-every-0-01sec-without-using-multitask/10476/1 "2021-11-25T12:51:38Z")

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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

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**Author:** ![kkNielsen](https://avatars.discourse-cdn.com/v4/letter/k/c89c15/32.png) [@kkNielsen](https://tech-community.robotics.abb.com/u/kkNielsen)\
**Post date:** [December 7, 2021, 8:05am UTC](https://tech-community.robotics.abb.com/t/how-to-log-the-tcp-speed-every-0-01sec-without-using-multitask/10476/2 "2021-12-07T08:05:30Z")

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Look up trap/interrupt procedures.