Using YMConnect to Read a Robot's Current Position

This is a simple program that reads the current position of a robot. For more information about this function, please visit https://developer.motoman.com/en/YMConnect/ControlGroupInterface 

This code is the same for Windows or Linux.

#include "YMConnect.h"

void main()
{
    StatusInfo status{};
    auto c = YMConnect::OpenConnection("192.168.1.31", status);
    PositionData positionData{};

    status = c->ControlGroup->ReadPositionData(ControlGroupId::R1, CoordinateType::Pulse, 0, 0, positionData);

    YMConnect::CloseConnection(c);
}