RobotStudio event

YuMi support with PCSDK

Is the YuMi fully supported by the PCSDK?

When I read the axes of the YuMi using the following method I am only returned 6 axes (Rax_1 to Rax_6):
controller.MotionSystem.ActiveMechanicalUnit.GetPosition().RobAx

The YuMi has 7 axes per arm. If it is supported then how do I access the 7th axis?

Any help is welcome. Thanks.

Answers

  • KOS
    KOS NZ
    Never mind, I have this working now.
  • ZhangKeke
    ZhangKeke China
    Hello, you should use as below
    Task tskRobL = mycontroller.Rapid.GetTask("tskRobL");
    var jointL = tskRobL.GetJointTarget();