# How can I send position/joint angles from MATLAB to ABB IRB 1600?

**URL:** <https://tech-community.robotics.abb.com/t/how-can-i-send-position-joint-angles-from-matlab-to-abb-irb-1600/7385>\
**Category:** RobotStudio\
**Created:** [October 10, 2016, 5:52am UTC](https://tech-community.robotics.abb.com/t/how-can-i-send-position-joint-angles-from-matlab-to-abb-irb-1600/7385 "2016-10-10T05:52:35Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![Milan](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/milan/32/4406_2.png) [@Milan](https://tech-community.robotics.abb.com/u/Milan)\
**Post date:** [October 10, 2016, 5:52am UTC](https://tech-community.robotics.abb.com/t/how-can-i-send-position-joint-angles-from-matlab-to-abb-irb-1600/7385/1 "2016-10-10T05:52:35Z")

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Hello everybody,

First, I’m sorry about my english.

I’m working in a project, in it i have a set of coordinates/ joint angles in my matlab and i want to send these datas to my ABB IRB 1600 manipulator one by one, I am stuck in this phase.

Help me, please!!

Thank you!!

Regards.

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**Author:** ![John\_Verheij](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/john_verheij/32/1724_2.png) [@John\_Verheij](https://tech-community.robotics.abb.com/u/John_Verheij)\
**Post date:** [October 10, 2016, 6:38am UTC](https://tech-community.robotics.abb.com/t/how-can-i-send-position-joint-angles-from-matlab-to-abb-irb-1600/7385/2 "2016-10-10T06:38:49Z")

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I think the easiest solution is to use sockets.

Here you can see an example between Python and Robotstudio: [https://forums.robotstudio.com/discussion/comment/25528/#Comment\_25528](https://forums.robotstudio.com/discussion/comment/25528/#Comment_25528)

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**Author:** ![SteveMob](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/stevemob/32/1600_2.png) [@SteveMob](https://tech-community.robotics.abb.com/u/SteveMob)\
**Post date:** [October 10, 2016, 1:04pm UTC](https://tech-community.robotics.abb.com/t/how-can-i-send-position-joint-angles-from-matlab-to-abb-irb-1600/7385/3 "2016-10-10T13:04:30Z")

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Hi,

Sorry to jump in, but I am trying to do the same thing, set up socket communication using MatLab and RobotStudio. Does anybody have the MatLab code for socket communication as well as how to send target data from MatLab?

Thanks,  
SM

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**Author:** ![John\_Verheij](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/john_verheij/32/1724_2.png) [@John\_Verheij](https://tech-community.robotics.abb.com/u/John_Verheij)\
**Post date:** [October 11, 2016, 6:52am UTC](https://tech-community.robotics.abb.com/t/how-can-i-send-position-joint-angles-from-matlab-to-abb-irb-1600/7385/4 "2016-10-11T06:52:22Z")

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In Matlab you have the ‘tcpip’ function to create a socket. The return value can be used as file-descriptor (e.g. used with the fopen/fclose, fwrite/fread functions).  
Does this not work?

I have no Matlab on my machine, so unfortunately I cannot test it…

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**Author:** ![SteveMob](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/stevemob/32/1600_2.png) [@SteveMob](https://tech-community.robotics.abb.com/u/SteveMob)\
**Post date:** [October 28, 2016, 1:29pm UTC](https://tech-community.robotics.abb.com/t/how-can-i-send-position-joint-angles-from-matlab-to-abb-irb-1600/7385/5 "2016-10-28T13:29:07Z")

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Thanks John!