Read all joints

Collaborative Robots
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1

Hi,

How can I read all the seven joints of YUMI?

Any suggestion will be appreciated!!!

2

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;
joints := CJointT();
3

Thanks a lot!

It is working.