Read Joint Configuration

Read current joint configuration from UR Controller using RTDE interface

Since R2025a

• 

Libraries:
Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators / UR RTDE Blocks

Description

The Read Joint Configuration block reads the current joint configuration of the cobot from UR Controller using RTDE interface.

Ports

Output

q — Current joint configuration

numeric vector

Current joint configuration (in radians) of the cobot in the range [-2π, 2π], specified as a 1-by-6 vector.

Data Types: double

Status — Status of read operation

numeric scalar

Status of read operation, specified as a numeric scalar. The block outputs the result as one of these values:

• 0 – read operation is successful

• 1 – read operation failed

Data Types: double

Parameters

UR Controller IP address — IP address of UR Controller

192.168.1.10 (default) | scalar

Specify the IP address of UR Controller corresponding to the UR Series cobot to which you are establishing the connection.

Sample time — Sample time

0.1 (default) | any non-negative value that is a multiple of 0.1 | -1

Enter the time interval at which the block reads values from the UR RTDE Controller.

When you set this parameter to -1, Simulink determines the best sample time for the block based on the block context within the model.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using Simulink® Coder™.

You can deploy the generated code to platform-specific targets like Windows^® or Linux^® host or to a Raspberry Pi^® target.

Version History

Introduced in R2025a