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Install the latest version of External Control URCap on the UR Robot. You can download it here.
-
Install the
ur_rtde
library for Python (does not work on IronPython):
pip install ur_rtde
- Edit the script to indicate the Robot IP, File Name (It will be saved as an CSV), and Saving Frequency.
The data is a dump of the Real-Time Data Exchange directly from the Universal Robot. The Robot controller outputs are explained in the PDF attached in the repository. An online version is also available here.