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YuMi support with PCSDK

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

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