Acquire Image Tool Properties Step 2: Identify the data to be collected The script must create a DataCollectionConfiguration collection and add DataCollectionItem objects associated with each data item that should be collected. In our case, we must create a DataCollectionItem for each motor of the robot and associate each one with the ServoData we wish to collect. The DataCollectionConfiguration also must be told how many samples are to be collected each second and how many seconds to run the test. Lastly, the DataCollectionConfiguration needs to be associated with the robot. Step 3:
Collect the data Before collection is started, a CartesianMove object is created so we can command the robot to move to a cartesian position while the data collection is being performed. The Move command is a non-blocking command, so once issued, the script continues to run. After the robot is ordered to move to the cartesian position, the data collection is invoked. While the data is being collected and the robot is moving, the script will delay. Once the delay is complete, the script waits until the motion has completed, detaches the robot, and disposes of the move command. ACE Reference Guide, 18317-000 Rev A Page 629