Get JPs
Function
This Step is used to obtain the current joint positions of the connected robot and synchronize the joint positions to Mech-Viz.
Usage Scenario
If Mech-Viz does not fully control all movements of the robot, you can use this Step to obtain the current joint positions of the robot after it has moved according to its control program.
Parameter Description
General Parameters of Non-Move Steps
Skip Execution
| None |
Default setting. Do not skip the current Step. |
| Simulation only |
Skip the current Step during simulation. The exit port is specified by Out Port When Skip. |
| Always |
Skip the current Step when the project is simulating or running. The exit port is specified by Out Port When Skip. |
| Instruction |
When Simulation only or Always is selected, the current Step will be skipped and the subsequent Step will be executed when running the project. If this parameter is set to None in “Check DI” Step in the project, and there is no external input signal during simulation, the project will be stopped when executing to this Step. In this case, setting the parameter to Simulation only or Always enables the simulation to continue. |
