YuMi support with PCSDK

Collaborative Robots
1

Is the YuMi fully supported by the PCSDK?

When I read the axes of the YuMi using the following method I am only returned 6 axes (Rax_1 to Rax_6):
controller.MotionSystem.ActiveMechanicalUnit.GetPosition().RobAx

The YuMi has 7 axes per arm. If it is supported then how do I access the 7th axis?

Any help is welcome. Thanks.

2

Never mind, I have this working now.

3

Hello, you should use as below

Task tskRobL = mycontroller.Rapid.GetTask(“tskRobL”);
var jointL = tskRobL.GetJointTarget();