Hi. I wanna get the position information of the joints of the assembly show in the  attached files. I need to know the position of a joint at a certain time(like;joint_1,time(sec):2.4 position(degree):28). I wanna specify the references for the angles. Axis of rotation should be Z axis. At the starting position it should be on X axis. Program should recognize the clockwise rotation as negative rotation. How can I arrange those settings ?