# Adjustment of joint angles

**URL:** <https://tech-community.robotics.abb.com/t/adjustment-of-joint-angles/6353>\
**Category:** RobotStudio\
**Created:** [November 6, 2014, 8:05am UTC](https://tech-community.robotics.abb.com/t/adjustment-of-joint-angles/6353 "2014-11-06T08:05:27Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![larstoc](https://avatars.discourse-cdn.com/v4/letter/l/3bc359/32.png) [@larstoc](https://tech-community.robotics.abb.com/u/larstoc)\
**Post date:** [November 6, 2014, 8:05am UTC](https://tech-community.robotics.abb.com/t/adjustment-of-joint-angles/6353/1 "2014-11-06T08:05:27Z")

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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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**Author:** ![PerSvensson](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/persvensson/32/1040_2.png) [@PerSvensson](https://tech-community.robotics.abb.com/u/PerSvensson)\
**Post date:** [November 6, 2014, 9:21am UTC](https://tech-community.robotics.abb.com/t/adjustment-of-joint-angles/6353/2 "2014-11-06T09:21:35Z")

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Take a look at the instruction MoveAbsJ and JointTarget data

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**Author:** ![larstoc](https://avatars.discourse-cdn.com/v4/letter/l/3bc359/32.png) [@larstoc](https://tech-community.robotics.abb.com/u/larstoc)\
**Post date:** [November 7, 2014, 12:41pm UTC](https://tech-community.robotics.abb.com/t/adjustment-of-joint-angles/6353/3 "2014-11-07T12:41:28Z")

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Thanks a lot, that was just what I was looking for.

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**Author:** ![larstoc](https://avatars.discourse-cdn.com/v4/letter/l/3bc359/32.png) [@larstoc](https://tech-community.robotics.abb.com/u/larstoc)\
**Post date:** [November 7, 2014, 1:58pm UTC](https://tech-community.robotics.abb.com/t/adjustment-of-joint-angles/6353/4 "2014-11-07T13:58:52Z")

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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!

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**Author:** ![sturner](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/sturner/32/3432_2.png) [@sturner](https://tech-community.robotics.abb.com/u/sturner)\
**Post date:** [November 8, 2014, 7:23pm UTC](https://tech-community.robotics.abb.com/t/adjustment-of-joint-angles/6353/5 "2014-11-08T19:23:58Z")

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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);