CONFIG real-valued function CONFIG real-valued function Syntax CONFIG ( select ) Function Return a value that provides information about the robot's geometric configuration, or the status of the motion servo-control features. Usage Considerations The CONFIG function returns information for the robot selected by the task executing the function. If the eV+ system is not configured to control a robot, use of the CONFIG function causes an error. Parameter select Optional real value, variable, or expression (interpreted as an integer) that has a value from 0 to 13 and selects the category of the configuration information to be returned.
(See below for details.) Details This function returns a value that is interpreted as a series of bit flags. The interpretation of the value returned by this function depends on the select parameter. When the select parameter is omitted, or has the value 0, 1, or 2, the CONFIG function returns a value that can be interpreted as bit flags indicating a geometric configuration of the robot. That is, each bit in the value represents one characteristic of a robot configuration. The parameter values in this group determine which robot configuration is returned by the function:
eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 130 Select Configuration information returned 0 The robot's current (instantaneous) configuration. (The default value is 0.) 1 The configuration the robot will achieve at the completion of the current motion, or the current configuration if no motion is in progress (and the robot is attached).