Get wobjdata in PC SDK

howtodo

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!

Lennart H

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;