# robot articulation(motor) angle

**URL:** https://tech-community.robotics.abb.com/t/robot-articulation-motor-angle/6291
**Category:** RobotStudio
**Created:** [September 22, 2014, 11:03am UTC](https://tech-community.robotics.abb.com/t/robot-articulation-motor-angle/6291 "2014-09-22T11:03:17Z")
**Posts on this page:** 5
**Page:** 1

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### Author: ![Akram\_Lachiheb](https://avatars.discourse-cdn.com/v4/letter/a/e9a140/32.png) [@Akram\_Lachiheb](https://tech-community.robotics.abb.com/u/Akram_Lachiheb)
#### Post date: [September 22, 2014, 11:03am UTC](https://tech-community.robotics.abb.com/t/robot-articulation-motor-angle/6291/1 "2014-09-22T11:03:17Z")

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hello,  
Please is it possible to assign angle value, in degree, of each robot motor (articulation)?  
thanks for any help

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### Author: ![John\_Wiberg](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/john_wiberg/32/1485_2.png) [@John\_Wiberg](https://tech-community.robotics.abb.com/u/John_Wiberg)
#### Post date: [September 22, 2014, 11:21am UTC](https://tech-community.robotics.abb.com/t/robot-articulation-motor-angle/6291/2 "2014-09-22T11:21:52Z")

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You didn’t specify where you wanted this done. But yes…

… if you meant the mechanism model in RobotStudio then in the [Layout] browser, right click the mechanism and in the context menu select [Mechanism Joint Jog] .

Then you can, by joint, either drag the bar, or, with a joint selected use the number keys to enter a specific number of degrees.

…if you instead meant during motion then the RAPID command you are looking for is MoveAbsJ

[http://developercenter.robotstudio.com:80/Index.aspx?DevCenter=DevCenterManualStore&OpenDocument&Url=../RapidIFDTechRefManual/doc93.html](http://developercenter.robotstudio.com:80/Index.aspx?DevCenter=DevCenterManualStore&OpenDocument&Url=../RapidIFDTechRefManual/doc93.html)

like this:

MODULE Module1

CONST jointtarget JointTarget\_1:=[[5,10,15,20,25,30],[9E9,9E9,9E9,9E9,9E9,9E9]];

PROC Path\_10()

MoveAbsJ JointTarget\_1,v1000,z100,tool0\WObj:=wobj0;

ENDPROC

ENDMODULE

If you meant in some other context then please specify further.

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<div class="post-metadata">

### Author: ![Akram\_Lachiheb](https://avatars.discourse-cdn.com/v4/letter/a/e9a140/32.png) [@Akram\_Lachiheb](https://tech-community.robotics.abb.com/u/Akram_Lachiheb)
#### Post date: [September 22, 2014, 1:26pm UTC](https://tech-community.robotics.abb.com/t/robot-articulation-motor-angle/6291/3 "2014-09-22T13:26:15Z")

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Thanks for your response, actually mean using “RAPID” instructions..  
Probably “moveabsj” will help..  
For example if i want to rotate a “target” in “global” without using : select target–\>mouse right clic–\>rotate?but using RAPID instructions.  
Sorry for my english and by the way what shall i do to change the RS language from French to English without re-installing it ?

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<div class="post-metadata">

### Author: ![Akram\_Lachiheb](https://avatars.discourse-cdn.com/v4/letter/a/e9a140/32.png) [@Akram\_Lachiheb](https://tech-community.robotics.abb.com/u/Akram_Lachiheb)
#### Post date: [September 22, 2014, 1:37pm UTC](https://tech-community.robotics.abb.com/t/robot-articulation-motor-angle/6291/4 "2014-09-22T13:37:49Z")

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Is there any equivalent to “RelTool (Point Dx Dy Dz [\Rx] [\Ry] [\Rz])” but [\RX]… will be rotations along the robot base axis ?

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<div class="post-metadata">

### Author: ![Akram\_Lachiheb](https://avatars.discourse-cdn.com/v4/letter/a/e9a140/32.png) [@Akram\_Lachiheb](https://tech-community.robotics.abb.com/u/Akram_Lachiheb)
#### Post date: [September 22, 2014, 1:46pm UTC](https://tech-community.robotics.abb.com/t/robot-articulation-motor-angle/6291/5 "2014-09-22T13:46:53Z")

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For changing the language, i found it. It is simple : file–\>options–\>appearance–\>select application language