Playback

Playback executes recorded motion files in .hrpr format. The file structure is inspired by G-code, with HARP reading each motion command and executing the corresponding robot movement.

Timing information captured during recording is preserved through dynamically recorded feedrates, allowing the motion to play back on the same time scale as the original recording. These values can also be modified when customizing the recorded motion.

For more information about recorded macros and their file structure, see Macro File Format.

To execute a recorded motion, click the Play button on the desired macro.

Before playback begins, a confirmation dialog appears. This provides an additional safety check and allows the user to confirm that the robot workspace is clear and that the system is ready for motion before execution.

Safety & Troubleshooting

• Be prepared to press Stop or the Esc key if the robot motion does not behave as expected.
• Verify the robot's current pose before starting playback. If an axis is omitted from a playback command, its current value is preserved and is not overwritten.
• If a recorded path does not behave as expected, review the macro file for missing, incorrect, or mistyped axis values.
• Confirm that the physical workspace is clear before starting any playback motion.