PG Joint Robots

PG Joint robots do not have an XY coordinate system.

Vision Guide does not support Joint robots (since there is no XY coordinate system).

PG Joint robots do not support Arm, Tool, and Local.

The table below shows the functions used to retrieve coordinates for joint robots. Normally, for Joint robots, use Agl and PAgl functions. However, you can also use the CX, CY, CZ, CU functions, as shown.

Joint	Current Position	Point coordinate
J1	Agl(1) CX(Here)	PAgl(Pn, 1) CX(Pn)
J2	Agl(2) CY(Here)	PAgl(Pn, 2) CY(Pn)
J3	Agl(3) CZ(Here)	PAg(Pn, 3) CZ(Pn)
J4	Agl(4) CU(Here)	PAgl(Pn, 4) CU(Pn)
J5	Agl(5) CV(Here)	PAgl(Pn, 5) CV(Pn)
J6	Agl(6) CW(Here)	PAgl(Pn, 6) CW(Pn)
J7	Agl(7) CR(Here)	PAgl(Pn, 7) CR(Pn)