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Read all joints

LIKUNWANG
LIKUNWANG ✭
in Collaborative Robots
Hi,

How can I read all the seven joints of YUMI?

Any suggestion will be appreciated!!!


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Comments

  • LeonL
    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;<br>joints := CJointT();<br>
  • LIKUNWANG
    LIKUNWANG ✭
    Thanks a lot! 

    It is working.


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