RobotStudio event

MechanicalUnit.GetPosition() with external axes.

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DenisFR
DenisFR ✭✭✭
in Developer Tools

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Hello,

When using ABB.Robotics.Controllers.MotionDomain.MechanicalUnit.GetPosition() with robot (IRB6640) and Track(IRBT6004), all works fine.
(Only that track value is recorded in ExtAx.Eax_a ,that seems normal. But is it possible to have other axes in Eax_b to _f? And how to know where is the data?)

But, when I use it with Positioner (MTD) then returned value is {[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]}.

How can I retrieve Positioner Angle?

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