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Get wobjdata in PC SDK

hi:

If I have this data :

TASK PERS wobjdata wobj1:=[FALSE,TRUE," ",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

How can I get the data ,such as q1 or x of wobj1 by PC SDK?? Can you give me a simple example?

Thank you! image

Comments


  • WobjData
    wobj = new WobjData();
    RapidData rd=this.controller.Rapid.GetRapidData("T_ROB1", "MainModule", "wobj1");
    wobj = (ABB.Robotics.Controllers.RapidDomain.
    WobjData)rd.Value;
    float posX=wobj.Uframe.Trans.X;
    double orientQ1 = wobj.Uframe.Rot.Q1;
    Lennart H