Read all joints

LIKUNWANG
UK ✭
Hi,
How can I read all the seven joints of YUMI?
Any suggestion will be appreciated!!!
How can I read all the seven joints of YUMI?
Any suggestion will be appreciated!!!
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Comments
-
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>
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Thanks a lot!
It is working.
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