Chapter 15 Functions
15-37
15.10 Angle Component
JOINT (Function)
Function
Extracts an angle from joint type coordinates.
Format
JOINT (<Axis number>, <Joint type>)
Explanation
Extracts the joint angle of the axis designated in <Axis number> from the joint
type coordinates designated in <Joint type>.
Related Terms
LETJ
Example
DEFJNT lj1, lj2
DEFSNG lf1, lf2
DIM li1 As Integer
lf1 = JOINT(1, lj1) 'Assigns the 1st axis joint angle of lj1 to lf1.
lf2 = JOINT(li1, lj2)
'Assigns the axis joint angle with values li1 and
lj2
to lf2.
6-axis lf1 = JOINT(1, lj1 + (10, 10, 0, 0, 0, 0) )
'Assigns the 1st axis joint angle of lj1 +
'(10, 10, 0, 0, 0, 0) to lf1.
4-axis lf1 = JOINT(1, lj1 + (10, 10, 0, 0) )
'Assigns the 1st axis joint angle of lj1 +
'(10, 10, 0, 0) to lf1.
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