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8. Recording

For Information on the Recorded data format - See Appendix B

8.1 What Recording Is For​

Recording robot paths lets you create macros you can play back later for repeatable motions (see Section 6.4 Macros). Recordings preserve timing with a dynamic feedrate so playback runs on the same time scale as captured.

8.2 Start/Stop a Recording​

  • From the Command Bar, click Start Recording at any time—whether you are clutching or not.
  • While recording is active, all follower data is captured. (even if no motion happens)
  • Use End to save the capture (see Section 6.5 Command Bar).

8.3 Data Captured​

During a recording HARP logs, at minimum:

  • Robot Arm state
  • End‑Effector position (open / closed , On / Off)

8.4 Editable, G‑Code‑Inspired Format​

Recordings are stored in a G‑code‑inspired text format so you can modify and tailor paths as needed.

  • You may remove lines or axes you don’t want to play back
  • Missing axis values are preserved from the current pose, so omitting an axis means it will not change during that step

8.5 Common Edits & Examples​

Z‑Only “Safe Height” - Shown in Appendix B

  1. Move the robot to the desired safe Z height.
  2. Start Recording then immediately End the recording.
  3. Open the recorded file in your preferred file editor: delete all lines except the one with your preferred Z value; remove X and Y from that line.

Result: Playback moves only in Z, keeping current X/Y.

XY‑Only Moves - Shown in Appendix B

  • Remove Z values from the lines you want to keep. Playback will move in X/Y only, maintaining the current Z.

8.6 File Location​

In your project directory, recordings are saved under the raw folder.

Eg. “./My Documents/MyFirstProject/raw/”