Retrieving robot position via Secondary Interface

[paul.weidinger]

In one of my installation nodes, I want the user to be able to save the robot’s current position. I can connect via secondary interface and conceivably parse the data stream and extract the position that way. This isn’t trivial, so has anybody written any code to do this?

Or is there an easier way to accomplish the same thing?

[dhv]

I think you want to look at this example but it uses the realtime client though:

URCap Sample: getRobotData Real Time Client reader URCap

getRobotData Real Time Client reader URCap Description of functionality: This URCap implements a new custom class, getRobotRealtimeData.class, that connects to the Real Time Client interface, and reads the message. The data from the Real Time Client is broken into the information it represents, and implements get-methods to read actual TCP pose, actual joint positions, joint temperatures, joint operation modes and the safety limited speed scaling percentage. You can add your own get-methods a…

[paul.weidinger]

Ah brilliant. Thank you for the link!