Sysapps.CSV is a URCap which enables your UR to create a CSV file. It is simple to set-up and use. You can now save any variables of the UR program (position, force, counter, date, time, ...) in a CSV file. The CSV file can be saved into the memory of the robot or to a USB stick. Make all the measurement you want, the only limit is your imagination (and also the 50 columns of the file). You can then exploit all these data for quality purpose or experimentation. SysApps.CSV is only compatible with the e-series models from Universal Robots.
Install the SysApps.CSV URCap, activate the licence and it's ready to use.