SOLVE.FLAGS real-valued function 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 wrist pitch angle has a positive value.
(This bit is always 0 when the robot does not have a three-axis wrist, as is the case for a four-axis SCARA robot.) Related Keywords ABOVE program instruction BELOW program instruction DECOMPOSE program instruction LEFTY program instruction RIGHTY program instruction FLIP program instruction NOFLIP program instruction SELECT program instruction SELECT real-valued function SOLVE.ANGLES program instruction SOLVE.TRANS program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 488