get_current_posj (Manual Mode)

This section explains how to use get_current_posj during Manual (Teach) operations. Although defined in 3.1 Common, this function is widely used in teaching mode to monitor or record the robot’s joint angles while performing jog or multi-jog actions.

Typical usage

• Display or log current joint positions (J1–J6) during manual operation.

• Verify mechanical limits and safe ranges while jogging each axis.

• Compare current joint positions with a predefined pose or user-taught data.

Note

• Each joint angle corresponds to Joint 1 → Joint 6 in the robot model.

• This is particularly useful for checking joint configuration before or after teaching a waypoint.

Example; Read Joint Angles after Jogging

#include "DRFLEx.h"
#include <thread>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // Assume connection, Manual mode, and servo ON are set.

    // Jog +J2 direction for a short time
    drfl.jog(JOG_AXIS_JOINT_2, MOVE_REFERENCE_JOINT, 10.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(500));
    drfl.stop(STOP_TYPE_SLOW);
    drfl.mwait();

    // Get current joint positions
    LPROBOT_POSJ pJoint = drfl.get_current_posj();

    printf("[Current Joint Angles]\n");
    for (int i = 0; i < NUMBER_OF_JOINT; ++i)
        printf("J%d: %.2f°\n", i + 1, pJoint->_fTargetPos[i]);

    return 0;
}

Tips

• Use this function to confirm safe joint states before teaching or playback.

• Ideal for comparing manual joint movements with program-taught poses.

• Can be used together with get_current_posx to compare joint vs. Cartesian data.