Command 1227: Sets the J1angle attribute of the point
Specifies J1angle attribute of the point.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | Option | 0 = omit the setting value 1 = use the setting value If “0= omit the setting value” is selected, Parameter 3 and 4 are not necessary. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | pointNumber | Specify the point number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | setValue High-order side | Specify the real value by increasing the value thousandfold and converting it to the 32-bit integer. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | setValue Low-order side | Specify the real value by increasing the value thousandfold and converting it to the 32-bit integer. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
J1Angle attribute is only available for RS series manipulators. The attribute specifies the Joint #1 angle in singularity where X coordinate and Y coordinate are both “0”.
J1Angle attribute value is not effective in the points without singularity.
Example
When omitting the setting value: Specify the P1 attribute
| Command | Response |
| 04CBH 0000H 0001H | 04CBH 0000H 0000H |
When using the setting value: Specify 2.001 to P1
| Command | Response |
| 04CBH 0001H 0001H 0000H 07D1H | 04CBH 0000H 0000H |