Get state of external joints

URL

/rw/rapid/tasks/{task}/motion

Method

GET

URL Params

resource=extjointstate Required

Data Params

None

Success Response

OK (200), see HTTP Status codes

Example Response

<?xml version="1.0" encoding="UTF-8"?>
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<title>rapid</title>
<base href="http://localhost:80/rw/rapid/"/>
</head>
<body>
<div class="state">
<a href="tasks/T_ROB1/motion?resource=extjointstate" rel="self"/>
<ul>
<li class="rapid-extjointstate" title="extjointstate">
<span class="j1">linear</span>
<span class="j2">liner</span>
<span class="j3">linear</span>
<span class="j4">not_active</span>
<span class="j5">linear</span>
<span class="j6">rotating</span>
</li>
</ul>
</div>
</body>
</html>

Resources

rapid-extjointstate If any ext mechnical unit is attached than provide the extjoints.
- (j1-j6) Joints 1-6 {linear|not_active|no_position|rotating}

Error Response

BAD_REQUEST(400), See Robot controller return codes

Sample Call

curl --digest -u "Default User":robotics "http://127.0.0.1/rw/rapid/tasks/T_ROB1/motion?resource=extjointstate"

Notes

Not supported in bootserver mode