JA Function

Returns a robot point specified in joint angles.

Syntax
JA ( j1, j2, j3, j4 [, j5, j6 ] [, j7 ] [, j8, j9 ] )

Parameters
j1 – j9: Real expressions representing joint angles. For linear joints, specifies in units of mm. j5 and j6 are for the 6-axis robot (including N series) and Joint type 6-axis robot. j7 is for the Joint type 7-axis robot. j8 and j9 are for the additional ST axis.

Note
If the angle exceeding the motion range is specified, an out of range error occurs.

Return Values
A robot point whose location is determined by the specified joint angles.

Description
Use JA to specify a robot point using joint angles.

When the points returned from JA function specify a singularity of the robot, the joint angles of the robot do not always agree with the joint angles supplied to the JA function as arguments during the execution of a motion command for the points. To operate the robot using the joint angles specified for the JA function, avoid a singularity of the robot.

For example:

> go ja(0,0,0,90,0,-90)
> where
WORLD:  X:    0.000 mm  Y:  655.000 mm  Z:  675.000 mm  U:    0.000 deg V:  -90.000 deg W:  -90.000 deg
JOINT:  1:    0.000 deg 2:    0.000 deg 3:    0.000 deg 4:    0.000 deg 5:    0.000 deg 6:    0.000 deg
PULSE:  1:        0 pls 2:        0 pls 3:        0 pls 4:        0 pls 5:        0 pls 6:        0 pls
> go ja(0,0,0,90,0.001,-90)
> where
WORLD:  X:   -0.004 mm  Y:  655.000 mm  Z:  675.000 mm  U:    0.000 deg V:  -90.000 deg W:  -89.999 deg
JOINT:  1:    0.000 deg 2:    0.000 deg 3:    0.000 deg 4:   90.000 deg 5:    0.001 deg 6:  -90.000 deg
PULSE:  1:        0 pls 2:        0 pls 3:        0 pls 4:  2621440 pls 5:       29 pls 6: -1638400 pls

See Also
AglToPls, XY

JA Function Example

P10 = JA(60, 30, -50, 45)
Go JA(135, 90, -50, 90)
P3 = JA(0, 0, 0, 0, 0, 0)