Read Joint Configuration

R2026b

Read current joint configuration from UR Controller using RTDE interface

Since R2025a

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  • Read Joint Configuration block

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

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

Data Types: double

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

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

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.

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"urRTDElib/Read Joint Configuration"

Example: add_block("urRTDElib/Read Joint Configuration","myModel/myBlock",MakeNameUnique="on")

Extended Capabilities

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Version History

Introduced in R2025a