I wanted to record $POS_ACT repeatedly in KRL (KRC2) while KUKA moves in a random path. There seems following two options to me-
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- Initialize a file and write to it whenever needed
- Send data to RSI monitor using RSI functionality
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The first option looks simple and straightforward to me. However I have no idea about it's implementation. The second option is time expensive and each cycle take 12ms to send data again. This way there is a chance of missing some $POS_ACT values.
Any suggestions please.