how can I get robot joint configuration?

nuaahp

    I want to get robot informatiom like joint position and orientation or velocity in PC SDK.I also want to write data to robot controller too.how can I do this?

    and robot is ABB IRB 2400/16,controller is IRC5. I download robotstudio5.13, use the PC SDK 5.13. actually,I want to known which namespace will help me to do it?  

Niklas Skoglund

Hi,

 

to read and write values to RAPID data check the namespace ABB.Robotics.Controllers.RapidDomain in the reference documentation.

 

Would you like to get the current joint positions and velocity when the robot is moving?

Using PC SDK MechanicalUnit.GetPosition() you can get the current joint values, but not get notified when it changes. So this is not suitable for real time monitoring if you need good accuracy.

 

In RobotStudio SDK you can get updated when the simulation time is moving forward, but that works only for virtual controllers.

 

Maybe you can tell me a litle bit more what you would like to develop in your application?