Get JPs

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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.

Out Port When Skip

This parameter will take effect when Skip Execution is set to Simulation only or Always. It specifies the exit port when skipping a Step.

Application Examples

Before the Vision Look Step triggers the corresponding Mech-Vision project, Mech-Viz obtains the joint positions of the real robot through the Get JPs Step and uses the obtained joint positions as the starting position for path planning.