Hi,
the physic objects angles are managed by the physics engine. You can not set the angles directly. You need to rotate them by applying forces. I think 'pXent_setangvelocity' is the best for your needs, but you can also control the table by applying torque (pXent_addtorque...) or uncentered linear forces (pXent_addforce...).

The table have to hang from the world by a joint (pXcon_add) in order to avoid falling to the infinite. PH_BALL joint is the simplest but it does not have rotating limits. You may set up a double PH_HINGE.

Salud!