SOLVE.ANGLES program instruction SOLVE.ANGLES program instruction Syntax SOLVE.ANGLES o.jts[ o.idx ], o.flags, error = trans, i.jts[ i.idx ],i.flags Function Compute the robot joint positions (for the current robot) that are equivalent to a specified transformation. Usage Considerations Since the computation performed by this instruction is a function of the geometry of the robot (link dimensions, number of axes, tool offsets, base offsets), robots with different geometric parameters yields different results.
In fact, since robots of the same general type may differ slightly in their dimensions, this instruction may return slightly different results when executed on two different robot systems of the same type. The SOLVE.ANGLES instruction returns information for the robot selected by the task executing the instruction. If the eV+ system is not configured to control a robot, executing this instruction does not generate an error because of the absence of a robot. However, the information returned may not be meaningful. Parameters o.jts Real-valued array in which the computed joint angles are returned.
The first specified element of the array contains the position for joint #1, the second element contains the value for joint #2, etc. For rotating joints, the joint positions are in degrees. For translational joints, the joint positions are in millimeters. If a computed joint position is outside the working range for the joint, the limit stop closest to the initial joint position (as indicated by i.jts[ ]) is returned. o.idx Optional real value, variable, or expression (interpreted as an integer) that identifies the array element to receive the position for joint #1. If no index is specified, array element zero contains the position for joint #1.
o.flags Real variable that receives a bit-flag value that indicates the configuration of the robot corresponding to the computed joint positions. The bit flags are interpreted as follows: eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 480