Send signal with joint current value

Hi there experts!

I wanted to send a signal with the joint current value to the PLC program. Is there a way of pairing a real signal to the joint value? I’d like to avoid having to create a python script with a while loop to update the signal value constantly to the joint value since it drains the performance.

Thanks in advance for your help.

“Joint values” are direcly available for pairing in Connectivity as VALUE property of DOF objects.

Hey @TSy ,

Thanks! I didn’t know that you can pair them directly. Cool! By the way, what’s the difference between the two properties I highligth? I undestand that VALUE property is the one I must pair but, then, what’s the other one?

Thanks a lot.

What is J_E1_i_1_Traslacio? For example, is that property listed in Link Properties panel when you select the node of that joint?

Hey there @zesty, thanks for your help.

“J_E1_i_1_Traslacion” is the name of the Joint that makes a traslational motion:

For what @TSy commented, I understand that VALUE is the variable where the value of the link is stored, but I thought that the variable would be “J_E1_i_1_Traslacion”

Ah, okay. Yes, the property with the name of your joint can be used to read/set the value of joint object, but the VALUE is better to use since VALUE can override and update the value without worry.

1 Like