Read all joints

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• Mute

LIKUNWANG ✭

August 2019 in Collaborative Robots

Hi,

How can I read all the seven joints of YUMI?

Any suggestion will be appreciated!!!

Tagged:

• RobotStudio
• Rapid Code
• ABB
• YuMi

0

Comments

• 

  LeonL ✭

  August 2019

  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>

  1
• 

  LIKUNWANG ✭

  August 2019

  Thanks a lot! 
  
  It is working.
  
  
  

  0