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TaskGetJointTarget Method

Get the current position for mechanical unit connected to task as JointTarget.

Namespace:  ABB.Robotics.Controllers.RapidDomain
Assembly:  ABB.Robotics.Controllers (in ABB.Robotics.Controllers.dll) Version: 6.5.129.0
Syntax
C#
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public JointTarget GetJointTarget()

Return Value

Type: JointTarget
JointTarget contaning the current position for the mechanical unit connected to the task.
Exceptions
ExceptionCondition
InvalidOperationExceptionThe task is not a motiontask, i.e. no mechanical unit is connected to this task.
GeneralExceptionA General Exception has occurred.
Examples
This example shows how to get the mechanical units, connected to the parameter task, position as JointTarget.
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public JointTarget GetJointTarget(Task task)
{
  JointTarget target = JointTarget.Undefined;
  try
  {
    if (task != null)
    {
      target = task.GetJointTarget();
    }
  }
  catch //(System.Exception ex)
  {
    // Exception handling
  }

  return target;
}

This example shows how to get the mechanical units, connected to the parameter task, external axis position as ExtJoint.

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public ExtJoint GetExternalAxis(Task task)
{
  ExtJoint extAx = new ExtJoint();
  try
  {
    if (task != null)
    {
      JointTarget target = task.GetJointTarget();

      extAx = target.ExtAx;
    }
  }
  catch //(System.Exception ex)
  {
    // Exception handling
  }

  return extAx;
}
See Also