Introduction to ID Option Words Introduction to ID Option Words This appendix supplements the descriptions of the ID monitor command and the ID( ) real- valued function. The ID command displays various option words as hexadecimal values; the ID function makes the same values available to programs. This appendix describes the following: l Basic eV+ system (two option words) l Processor option word for each processor Robot Option Words The real-valued functions ID(8,8) and ID(8,10+robot) return the first option word for the selected and specified robot, respectively. The interpretations of the high-order bits in this option word are described in the following table.
Note that the interpretation of the bits in the high byte of this value (bits 9 through 16) is independent of the particular kinematic module being used. However, the bits in the low byte depend on the robot module. Robot Option Word #1 (from ID(8, 10+robot)] eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 579 Bit # Mask Value Interpretation When Bit Set Decimal Hexadecimal 9 256 100 Motor limit-stop testing is enabled. This should be enabled only for robots that have excessive motor coupling, and that have motor limit-stop data allocated. 10 512 200 FREE mode power off is enabled. Any limit violations during FREE mode cause robot power to be disabled.
11 1024 400 The system will automatically execute a CALIBRATE monitor command when the system is booted. 12 2048 800 Obsolete 13 4096 1000 Check for collisions with static obstacles in Cartesian space during joint- interpolated motions. (This bit applies only to robot modules that can perform straight-line motions. Thus, for example, it does not apply to the JTS device