Robot Option Words The real-valued functions ID(11,8) and ID(11,10+robot) return the second option word for the selected and specified robot, respectively. The interpretations of the bits in this option word are described in the following table. Robot Option Word #2 (from ID(11, 10+robot)] eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 580 Bit # Mask Value Interpretation When Bit Set Decimal Hexadecimal module.) Note that when this bit is set, joint-interpolated motions have the same computational load as straight-line motions. 14 8192 2000 Micron display mode is enabled. 15-16 Reserved for future use (currently zero).
Bit # Mask Value Interpretation When Bit Set Decimal Hexadecimal 1 1 1 Robot has an RSC. 2 2 2 Robot has an extended-length quill. 3 4 4 Robot has the cleanroom option. 4 8 8 Whenusing the Cobra 600, 800 or 800 Inverted robots: Robot has the joint 4 quill encoder disabled. 5 16 10 Robot has the high-torque option. 6 32 20 Model-specific option, interpreted as follows: Robot Model Meaning of Bit Set Cobra 800 Robot has the IP65 Inverted option Robot Model Meaning of Bit Set Cobra 800 Inverted Robot has the IP65 option