How can I receive return value from "get_inverse_kin_has_solution"

中文提问(Questions in Chinese) 其他
1

I understand that the UR5e robot sends messages to the server at a certain frequency, and I’ve also successfully parsed the information within those 1220 bytes. However, how can I receive the return value of something like “get_inverse_kin_has_solution()”? This return value is likely not contained within the aforementioned 1220 bytes, right?

2

Hi,

You can assign the return value to a integer register, then use RTDE to sync the register to your client program.

https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/