RobotStudio event

Adjustment of joint angles

larstoc
larstoc ✭
in RobotStudio
Hey,
I have been trying to make a startup procedure which initializes the angles of the individual joints of the robot. I haven't found any way to change them in the technical reference instruction sheet. Is there a smart way to do this?

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  • PerSvensson
    PerSvensson ✭✭✭
    Take a look at the instruction MoveAbsJ and JointTarget data
    Per Svensson
    Robotics and Vision Specialist
    Consat Engineering
  • larstoc
    larstoc ✭
    Thanks a lot, that was just what I was looking for. 
  • larstoc
    larstoc ✭
    I have a followup question, is there any way to directly get the coordinates (trans/rot) of a joint in the robot? Mainly the wrist which is defined as tool0. My initial thought was to make a robtarget which was initialized to be the same as the wrist and continously update this variable, but is there already a function that does this? The data is to be used for the creation of a graph which plots the data we get from the robot arm against our reference data to see how well it follows. Thanks in advance!
  • sturner
    sturner ✭✭
    Hi Check out the function CRobT... you can use the optional arguments to state which tool and object you require, without these added the active data's will be used 

    p1 := CRobT(\Tool:=tool0\WObj:=wobj0);

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