Command 1228: Acquire the J1angle attribute of the point
Acquires J1angle attribute of the point.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | pointNumber | Specifies the point number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | attribute 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 | |
|---|---|---|---|
| Response 2 | 15 | attribute Low-order side | Specify the real value by increasing the value thousandfold and converting it to the 32-bit integer. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Description
Returns the real value of Joint #1 angle in singularity where X coordinate and Y coordinate are both “0”.
Example
When the P1 attribute is set to 1.002:
| Command | Response |
| 04CCH 0001H | 04CCH 0000H 03EAH |