Read all joints


How can I read all the seven joints of YUMI?

Any suggestion will be appreciated!!!


  • LeonL
    LeonL Lake Oswego, OR
    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.


    VAR jointtarget joints;<br>joints := CJointT();<br>
  • Thanks a lot! 

    It is working.