write and use a csv. file with my robot

RAPID Programming
1

Hello! I am trying to measure the force generated by my robot and write it to a CSV file. What I need is for the force measured by the sensor to be written to the document so that I can access it later. How does the Open() function work? What is the difference between “HOME:” and “PC:”? I would be very happy if someone could provide me with an example of how to write information to a document and then access it from my computer. Thank you!

2

Here is another example:

MODULE OffsetLog
!*****************************************************
! * Copyright (C) 2019 Lee Justice
! *
! * Licensed under the Apache License, Version 2.0 (the “License”);
! * you may not use this file except in compliance with the License.
! * You may obtain a copy of the License at
! *
! * Apache License, Version 2.0 | Apache Software Foundation
! *
! * Unless required by applicable law or agreed to in writing, software
! * distributed under the License is distributed on an “AS IS” BASIS,
! * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
! * See the License for the specific language governing permissions and
! * limitations under the License.
!*****************************************************

!*****************************************************
! Module Name: OffsetLog
! Version: 1.0
! Description: ! This module shows how to make a text file for logging
! data. A lot of people like to make a .csv file to
! open with excel. I prefer the readability of a text
! file. With some adaptation, you could change it to
! write a .csv file
! Date: 2019-10-18
! Author: Lee Justice
! Internet: GitHub - ernell/ABB-RAPID-UTILITY-LIBRARY: A collection of utility modules for ABB industrial robots.
!*****************************************************
! Data logging module to record trueview offsets
! provided to R62 for roof load onto car.
!
! Boolean bQuiet is switch to turn on or off
! TPWrites as desired.
!
! Boolean bLogData is switch to turn on or off
! the data logging altogether.
!
! Numeric nFreeFlashPer is the percent value
! of flash drive free space below which the
! program will erase the log file and begin a new
! file, so the flash drive will not fill up.
! Adjust as desired.
!
! Created: 10-09-2011
!
PERS string ActiveStylString;
PERS num nXoffset;
PERS num nYoffset;
PERS num nFreeFlashPer:=32;
PERS bool ComDevIsOpen:=FALSE;
PERS bool bQuiet:=FALSE;
PERS bool bLogData:=FALSE;

PROC rLogOffsets()
VAR iodev datalog;
VAR string stDate;
VAR string stTime;
VAR num nFreespace;
VAR num nTotalspace;

IF bLogData THEN
stDate:=CDate();
stTime:=CTime();
nFreespace:=FSSize(“HOME:/Offsets.txt”\Free);
nTotalspace:=FSSize(“HOME:/Offsets.txt”\Total);
IF ((nTotalspace-nFreespace)/nTotalspace)*100<nFreeFlashPer THEN
IF ComDevIsOpen Close datalog;
Open “HOME:”\File:=“Offsets.txt”,datalog\Write;
ComDevIsOpen:=TRUE;
Write datalog,stDate+", “+stTime+”, "+“New offset data log created.”;
ErrWrite\W,“File removed”,“Removing Offsets.txt from the HOME directory.”\RL2:=“To keep flash drive from filling.”;
ELSE
IF ComDevIsOpen Close datalog;
Open “HOME:”\File:=“Offsets.txt”,datalog\Append;
ComDevIsOpen:=TRUE;
Write datalog,stDate + ", " + stTime + ", " + ActiveStylString + ", " + " nXoffset is: “\Num:=nXoffset\NoNewLine;
Write datalog,”, nYoffset is: “\Num:=nYoffset;
Close datalog;
ComDevIsOpen:=FALSE;
IF bQuiet THEN
! Do nothing, only silence TPWrites
ELSE
TPWrite “The file containing the offset data is in the HOME directory.”;
TPWrite “Use the File Manager to retrieve a copyof Offsets.txt.”;
ENDIF
ENDIF
ENDIF
RETURN;
ERROR
TEST ERRNO
CASE ERR_FILEACC:
IF ComDevIsOpen Close datalog;
Open “HOME:”\File:=“Offsets.txt”,datalog\Write;
Write datalog,stDate+”, “+stTime+”, "+“New offset data log created.”;
Close datalog;
RETRY;
DEFAULT:
Stop;
! An unanticipated error has occurred
! see system variable ERRNO for cause.
ENDTEST
ENDPROC
ENDMODULE