SOLVE.ANGLES program instruction trans Transformation variable, function, or compound transformation that defines the robot location of interest. i.jts Real array that contains the joint positions representing the starting eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 482 Bit Flag Description 3 3 ^H4 4 4 ^H8 5 5 ^H10 6 6 ^H20 7 7 ^H40 8 8 ^H80 9 9 ^H100 10 10 ^H200 11 11 ^H400 12 12 ^H800 Bit 13 Collision (mask value = ^H1000) When this bit is turned on, a collision has been detected. Bit 14 Too close (mask value = ^H2000) The XYZ position of the destination cannot be reached because it was too close to the column of the robot.
Bit 15 Too far (mask value = ^H4000) The XYZ position of the destination cannot be reached because it was too far away from the robot. Bit 16 Joint vs. motor (mask value = ^H8000) If set, a motor is limiting. Otherwise, a joint is limiting.