CONFIG real-valued function The interpretations of the bit flags returned by these selections are as follows: When the select parameter is 3, 4, or 5, the CONFIG function returns a value that can be interpreted as bit flags indicating the settings of several robot motion servo-control features. That is, each bit in the value represents the state of one motion servo-control feature. The different parameter values in this group select which motion(s) will be affected by the features settings reported by the function, as follows: The interpretations of the bit flags returned by selections 3, 4, and 5 are as follows:
eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 131 Select Configuration information returned NOTE: The result returned is not meaningful if the robot is not attached. 2 The configuration the robot achieves at the completion of the next motion (assuming that it is a joint-interpolated [not straight-line] motion). Bit # Bit Mask Indication if bit SET 1 1 Robot has righty configuration 2 2 Robot has below configuration 3 4 Robot has flipped configuration Select Configuration information returned 3 The permanent settings of the robot motion servo-control features. That is, the settings defined by instructions that specify the ALWAYS qualifier.
4 The temporary settings for the motion currently executing, or the last motion completed if no motion is in progress. 5 The temporary settings that will apply to the next motion performed.