Hello!
I am abb korea partner engineer.
I want to read the position (angle) of an additional axis with the PC SDK.
I programmed it like this.
However, the 7th axis value is only read as 0.
I am not sure whether _extJoing.Eax_a reads the position value of an external additional axis.
Does _extJoing.Eax_a read the position value of an external additional axis?
Someone please answer.
===== C# Code ====
private void GetJointTargetPosition(out double pos, int size)
{
pos = new double[8];
JointTarget jointTarget = new JointTarget();
Char _jointTarDelimiters = { ‘[’, ‘,’, ‘,’, ‘,’, ‘,’, ‘,’, ‘]’ };
jointTarget = _controller.MotionSystem.ActiveMechanicalUnit.GetPosition();
string wordsSplit = jointTarget.ToString().Split(_jointTarDelimiters);
pos[0] = double.Parse(wordsSplit[2]); //Axis1
pos[1] = double.Parse(wordsSplit[3]); //Axis2
pos[2] = double.Parse(wordsSplit[4]); //Axis3
pos[3] = double.Parse(wordsSplit[5]); //Axis4
pos[4] = double.Parse(wordsSplit[6]); //Axis5
pos[5] = double.Parse(wordsSplit[7]); //Axis6
ExtJoint _extJoint = jointTarget.ExtAx;
pos[6] = (double)_extJoint.Eax_a; //Additional Axis7 //<- Is this part correct for reading the external additional axis position?
pos[7] = (double)_extJoint.Eax_b; //Additional Axis8
…
…
}