SOLVE.ANGLES program instruction Details This instruction computes the joint positions that are equivalent to a specified transformation value using the geometric data of the robot connected to the system. The specified transformation is interpreted to be the position and location of the end of the robot tool in the World coordinate system, taking into consideration the current TOOL transformation and BASE offsets. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 485 Bit Flag Description wrist. Bit 14: Change to FLIP (mask value = ^H2000) When bit 13 is set and this bit is set, the instruction attempts to compute joint positions for a FLIP wrist configuration.
If bit 13 is set and this bit is 0, the instruction attempts to compute joint positions for a NOFLIP wrist configuration. This bit is ignored if the robot does not have a three-axis wrist. Bit 21: Avoid degeneracy (mask value = ^H100000) When this bit is set, if the computed value of joint #2 is within 10 degrees of having the outer link straight out (that is, joint 2 between -10 and +10 degrees in value), an out-of-range error for joint 2 is signaled. Bit 22: Single-turn joint 4 (mask value = ^H200000) When this bit is set, the computed value of joint 4 is restricted to the range of -180 to +180 degrees. Bit 23:
Straight-line motion (mask value = ^H400000) When this bit is set, the joint positions returned must correspond to the same configuration as those initially specified. That is, no change in robot configuration is allowed.