I am using the robot to test the force required to rotate a sticky hinge. I need to report the resistive force at multiple points along the arc of travel. I created a variable that calls get_tcp_force(), and I’ve programmed the robot to move the hinge along a circular path. How do I get the system to read the variable to a file every x seconds (or, even better, every x arc degrees along the path)?
A thread with the GET_TCP_Force and a timer should do the trick.
There’s no built-in feature that saves data to a file. You’ll have to program something yourself.
I would advise you to connect a PC to the robot with RTDE and exchange data to the PC while the robot moves. That would be the easiest in my opinion.
Then you can store the data directly to the PC.