velocity and coordinate of a tool center point instantaneously

RAPID Programming
1 
Hello everyone,
I would like to write a code to read the speed and coordinates of TCp instantaneously whyle moving and transmit it to my computer 
could you help me please. I will be really happy
2

Hi,

if you have Option PC-Interface you can send to pc via socket. PC will be a socket-client , Robot will act as a socket server

Socketclose ComSocket;
SocketCreate ComSocket;
SocketConnect ComSocket, sPCIP, nPCPort \Time:=10;

You define a time interrupt of 10ms and in the trap you read TCP and send the valus as formatet string to the socket like this:

TRAP SendPos()
VAR pos tmppos;

tmppos:=CPos();
SocketSend ComSocket \Str:= NumToStr(tmppos.x,2)+ “;” + NumToStr(tmppos.y,2) + “;” + NumToStr(AOutput(aoTCPSpeed),2) + “!”;
Delete intno1;
CONNECT intno1 WITH SendPos;
ITimer \Single, nIntervall, intno1;
ENDTRAP

Note aoTCPSpeed must be declared as AnalogOut and linked to system-output “TCP-Speed”

Alternativ you can install a fieldbus-communication card (like HILSCHER CIFX) in your pc.

Good Luck

Daniel

3

Thanks Daniel i will give you a feedback after trying it!

4

hi!
i tryed this code but it ist not working . i dont really know how to work Robotstudio, so this is what i get and i dont really know how to continue

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5

so may be i didn’t explain the problem very well so, i have this robot on the picture below , and i just want to get the tcp_Speed (velocity)on anlalog output , while the robot is moving; could you please show me the way from the beginin? I’m really new on this . thanks

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6

Hello,
Is Signal Analyzer Online sufficient for you?

7

Hi Denis yes i just Need it on Signal analyer