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

**URL:** <https://tech-community.robotics.abb.com/t/how-to-record-robot-position-feedback-with-real-or-virtual-robot/8483>\
**Category:** Robot Controller\
**Created:** [September 25, 2018, 4:00pm UTC](https://tech-community.robotics.abb.com/t/how-to-record-robot-position-feedback-with-real-or-virtual-robot/8483 "2018-09-25T16:00:53Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![federico\_gentile](https://avatars.discourse-cdn.com/v4/letter/f/5f8ce5/32.png) [@federico\_gentile](https://tech-community.robotics.abb.com/u/federico_gentile)\
**Post date:** [September 25, 2018, 4:00pm UTC](https://tech-community.robotics.abb.com/t/how-to-record-robot-position-feedback-with-real-or-virtual-robot/8483/1 "2018-09-25T16:00:53Z")

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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 🙂 I think i found a useful discussion but i lost it ☹

Thanks

Federico

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**Author:** ![federico\_gentile](https://avatars.discourse-cdn.com/v4/letter/f/5f8ce5/32.png) [@federico\_gentile](https://tech-community.robotics.abb.com/u/federico_gentile)\
**Post date:** [September 26, 2018, 10:28am UTC](https://tech-community.robotics.abb.com/t/how-to-record-robot-position-feedback-with-real-or-virtual-robot/8483/2 "2018-09-26T10:28:48Z")

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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

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**Author:** ![DenisFR](https://avatars.discourse-cdn.com/v4/letter/d/dc4da7/32.png) [@DenisFR](https://tech-community.robotics.abb.com/u/DenisFR)\
**Post date:** [October 1, 2018, 9:27am UTC](https://tech-community.robotics.abb.com/t/how-to-record-robot-position-feedback-with-real-or-virtual-robot/8483/3 "2018-10-01T09:27:18Z")

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