SOLVE.ANGLES program instruction error Real variable that receives a bit-flag value that indicates whether any joint positions were computed to be outside of their working range, or whether the XYZ position of the destination was outside the working envelope of the robot. The bit flags are interpreted as follows: eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 481 Bit Flag Description Bit 1 (LSB) RIGHTY (mask value = 1) If this bit is set, the position has the robot in a right-arm configuration. Otherwise, the position has the robot in a left-arm configuration.
Bit 2 BELOW (mask value = 2) If this bit is set, the position has the robot configured with the elbow below the line from the shoulder to the wrist. Otherwise, the robot elbow is above the shoulder-wrist line. (This bit is always 0 when a SCARA robot is in use.) Bit 3 FLIP (mask value = 4) If this bit is set, the position has the robot configured with the pitch axis of the wrist set to a negative angle. Otherwise, the pitch angle of the robot wrist has a positive value.
(This bit is always 0 when the robot does not have a three-axis wrist, which is the case for a SCARA robot.) Bit Flag Description Bits 1 - 12 Joint/Motor out of range If set, the computed value for the joint or motor was found to be outside of its limit stops: Bit Joint/ Mask Value Motor # 1 1 ^H1 2 2 ^H2