RobotStudio event

Read all joints

Hi,

How can I read all the seven joints of YUMI?

Any suggestion will be appreciated!!!


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>
  • Thanks a lot! 

    It is working.