# IRBCAM CSV and JSON import formats

**URL:** <https://forum.hokarob.com/t/irbcam-csv-and-json-import-formats/20>\
**Category:** IRBCAM Documentation\
**Created:** [May 31, 2023, 9:15am UTC](https://forum.hokarob.com/t/irbcam-csv-and-json-import-formats/20 "2023-05-31T09:15:21Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![Vegard](https://forum.hokarob.com/letter_avatar_proxy/v4/letter/v/6f9a4e/32.png) [@Vegard](https://forum.hokarob.com/u/Vegard)\
**Post date:** [May 31, 2023, 9:15am UTC](https://forum.hokarob.com/t/irbcam-csv-and-json-import-formats/20/1 "2023-05-31T09:15:21Z")

</div>

**IRBCAM CSV Import Format:**

```yml
   x, y, z, rz1, ry, rz2, motion_type, velocity, tool_number, spindle_speed
  10, 12.2, -2, -4.4, -0.1, 0, 0, 0.45, 4, 100.0
 9.5, 13, -3.4, -4.2, 0.1, 0, 1, -1, 3, 150.0
10.5, 12.25, -2.5, -4.45, -0.15, 0.5, 0, 1, 4, 0.0

```

motion\_type is 0 for a linear move, and 1 for an arc mid-point. The order of rotation for the tool vector is the Euler angles RotZ(rz1) \* RotY(ry) \* RotZ(rz2). velocity is in mm/sec.x,y,z are in mm. A velocity of -1 means a rapid move (no contact with the material), and it can be defined inside IRBCAM. rz1,ry,rz2 are in radians. The spindle speed is in RPM (rotations per minute)

**IRBCAM JSON Import Format:**

```json
{
    "targets": {
        "pX": [-100.0,-99.5472,-98.1929],
        "pY": [0.0,9.5056,18.9251],
        "pZ": [0.0,2.0202,4.0404],
        "rZ": [0.0,0.0,0.0],
        "rY": [3.141592653589793,3.141592653589793,3.141592653589793],
        "rz2": [0.0,0.0,0.0],
        "type": [0,0,0]
    },
    "velocity": {"i": [0],"value": [100.0]},
    "tool": {"i": [0],"value": [1]},
    "spindle": {"i": [0],"value": [796]}
}

```

type is 0 for a linear move, and 1 for an arc mid-point. The order of rotation for the tool vector is the Euler angles RotZ(rZ) \* RotY(rY) \* RotZ(rz2). velocity, tool and spindle are imported as sparse data vectors. velocity is in mm/sec. pX, pY, pZ are in mm. rz1,ry,rz2 are in radians. The spindle speed is in RPM (revolutions per minute)