As far as I know, there's no option to export the position register as a csv file.
One option would be to use the POSREG.VA file (available on the robot's memory device, MD:\). This file contains all position registers values in ASCII format, so you'd have to convert it to a file with comma-separated XYZ coordinates yourself (using python or whatever suits you).
Another option, if you have access to KAREL, would be to create a program for exporting the XYZ coordinates. Create an ASCII data file (FANUC typically uses *.DT for this I believe?), loop over all position registers, and write the XYZ coordinates to the file. You might be able to write to a *.csv file instead of *.DT, but I'm not sure if KAREL WRITE commands care about filetype suffix.
Something to keep in mind is that position registers can express a position in joint representation as well. You'd have to convert or skip these entries. Using the KAREL approach would be preferred if you cared about the joint positions as well, as it has a built-in conversion routine.
thanks a million
As far as I know, there's no option to export the position register as a csv file.
One option would be to use the POSREG.VA file (available on the robot's memory device, MD:\). This file contains all position registers values in ASCII format, so you'd have to convert it to a file with comma-separated XYZ coordinates yourself (using python or whatever suits you).
Another option, if you have access to KAREL, would be to create a program for exporting the XYZ coordinates. Create an ASCII data file (FANUC typically uses *.DT for this I believe?), loop over all position registers, and write the XYZ coordinates to the file. You might be able to write to a *.csv file instead of *.DT, but I'm not sure if KAREL WRITE commands care about filetype suffix.
Something to keep in mind is that position registers can express a position in joint representation as well. You'd have to convert or skip these entries. Using the KAREL approach would be preferred if you cared about the joint positions as well, as it has a built-in conversion routine.
As far as I know, there's no option to export the position register as a csv file.
One option would be to use the POSREG.VA file (available on the robot's memory device, MD:\). This file contains all position registers values in ASCII format, so you'd have to convert it to a file with comma-separated XYZ coordinates yourself (using python or whatever suits you).
Another option, if you have access to KAREL, would be to create a program for exporting the XYZ coordinates. Create an ASCII data file (FANUC typically uses *.DT for this I believe?), loop over all position registers, and write the XYZ coordinates to the file. You might be able to write to a *.csv file instead of *.DT, but I'm not sure if KAREL WRITE commands care about filetype suffix.
Something to keep in mind is that position registers can express a position in joint representation as well. You'd have to convert or skip these entries. Using the KAREL approach would be preferred if you cared about the joint positions as well, as it has a built-in conversion routine.
my end goal is to used my roboguide program position to run a matlab meshing.
According to your knowlegde and experience, can you think of better way to achieve it?
Your application is not entirely clear to me yet, what do you mean with running a meshing in matlab?
You mention here that you want to use the positions defined in a TP program, and you mentioned using offsets (position register) earlier. Do you mean to include positions from both of these 'sources'?
okay i will try to be as clear as i can.
here is my project, i am using a robot to go through half of cylinder using 3 taught point that i have recorded has PR, and i am using an offset on the Z coordinate of each of the 3 points to move from the top to the bottom of the cylinder.
have the simulation running perfectly, i now have to do a matlab 3d plot or mesh from my different coordinates (XYZ).
at first i thought that i could export my PRs as csv and run it on matlab, and now i am realising that the approach was not good, that's why i am asking if there is a better way.
i hope i have been clearer than the first time
.
By the way i really appreciate your help sir
In RoboGuide, it should be easier than with a physical controller, since all the options are free.
In this case, you can add KAREL to your virtual robot, and use the file-writing commands (I haven't used them myself, but I know they exist) to write a CSV ASCII file of whatever format you like.
Another method would be to use the POSREG.VA file, as already mentioned, and have your MatLab script import and parse the file. But this would require knowing in advance what every PR was in order. Using the KAREL option would probably be a little more up-front work, but better flexibility and reliability on the backend.
