Read all joints

LIKUNWANG

Hi,

How can I read all the seven joints of YUMI?

Any suggestion will be appreciated!!!

LeonL

You can calculate and store the joint values with CJointT() using RAPID code which reads the current angles of the arm axes and external axes.

Example:

VAR jointtarget joints;
joints := CJointT();

LIKUNWANG

Thanks a lot! 

It is working.