Addressing a single value in an array

RobotStudio
1

Hello all,

I’m trying to retrieve each individual joint angle from a jointtarget data, which is off the form:
jpos:=[[-10, 80,-30, 20, 0, 0] , [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

How do I address these values to a variable? For instance I want to assign each of the joint angle data to different variables like;
q1=-10;
q2=80;
q3=-30;
q4=20;
q5=0;
q6=0.

Thank you,
Gianluigi

2

Hi Gianluigi,
To retrieve the elements from the jointtarget is not hard at all.
We know the structure of a jointtarget is of the form;

< dataobject of jointtarget >
< robax of robjoint >
<rax_1 of num >
<rax_2 of num >
<rax_3 of num >
<rax_4 of num >
<rax_5 of num >
<rax_6 of num >
< extax of extjoint >

< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >

Thus, to get the angles of robot axes from jPosCurrent…

PERS jointtarget jPosCurrent;
PERS num J1;
PERS num J2;
PERS num J3;
PERS num J4;
PERS num J5;
PERS num J6;

J1:=jPosCurrent.robax.rax_1;
J2:=jPosCurrent.robax.rax_2;
J3:=jPosCurrent.robax.rax_3;
J4:=jPosCurrent.robax.rax_4;
J5:=jPosCurrent.robax.rax_5;
J6:=jPosCurrent.robax.rax_6;

Regards,

BigM

3

I remark.

If you use PERS remember to initilise value in decleration

PERS Num PERSNume := Value;

BR Klaus

4

Well, it was like rocket science to me :stuck_out_tongue:

Thank you so much BigM and Klaus!