J4Angle Function

Sets the J4Angle attribute of a point.

Syntax
(1) J4Angle point [, value ]

(2) J4Angle

Parameters

Point

Specify Pnumber, P(expr), or point label.

value

Optional. Real value that specifies the set value.

Result
The J4Angle attribute is used only for N robot series.

It specifies the angle of the Joint #4 when the axis centers of the Joint #4 and #6 are on the straight line.

If the point is not singularity, J4Angle has no meaning.

If value is omitted, the J4Angle value for the specified point is displayed. When both parameters are omitted, the J4Angle value is displayed for the current robot position.

See Also
Hand, J1Angle, J1Angle Function, J4Angle Function

Note

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When both J4Flag and J4Angle are used, J4Angle is prioritized as follows:

J4Angle P0,0
J4Flag P0,1

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J4Angle Example

J4Angle P0, 10.0
J4Angle P(mypoint), 0.0