PAgl Method

Description
Returns the joint angle for the selected rotational axis, or position for the selected linear axis, of the specified point.

Syntax
Function PAgl (PointNumber As Integer, JointNumber As Integer) As Single
Function PAgl (Point As SpelPoint, JointNumber As Integer) As Single
Function PAgl (Label As String, JointNumber As Integer) As Single

Parameters

• PointNumber
  An integer expression indicating the point number of a point in the current robot’s point memory.
• Point
  A previously initialized SpelPoint
• Label
  A string expression indicating the label of the point that will become the point memory of the current robot.
• JointNumber
  An expression or number indicating the joint number (1 to 9).

Return Value
Single containing the angle for the specified joint in degrees or millimeters.

Remarks
If an error occurs and the ErrorNumber property of the SpelException is 3101, see the remarks in the SetPoint method.

See Also
Agl Method, Pls Method, CX, CY, CZ, CU, CV, CW, CR, CS, CT Method, SetPoint Method

PAgl Example
VB Example:

Dim t1Angle As Single  
t1Angle = m_spel.PAgl(1, 1)  

C# Example:

float t1Angle;  
t1Angle = m_spel.PAgl(1, 1);