How to record robot position feedback with real or virtual robot?

Robot Controller
1

Dear all,
i have to record the robot positions feedback during some of the moves it executes. I inject the program to the controller through PC SDK.

I am really confused at the moment.

Is it possible to record through RAPID programming? Or i have to use the RRI? or the VirtualController? and what about the DataRecorderSinkBase class?

Can someone put me in the right direction? Also links to existing discussions could be useful :slight_smile: I think i found a useful discussion but i lost it :frowning:

Thanks

Federico

2

Ok…

i’m trying to use MotionSystem.ActiveMechanicalUnit.GetPosition()

but nothing changes if i set CoordinateSystemType.World, CoordinateSystemType.Base, CoordinateSystemType.WorkObject

Any suggestions??

Thanks

Federico

3

Hello,
I’ve made this Addin to get Real Robot position:
https://robotapps.robotstudio.com/#/viewApp/0ec08dcc-4b53-469e-b25d-a81caaad76e0

You can modify it to log your robot position.
Or, you can make a new task in robot to log it with Rapid.