FLIP program instruction FLIP program instruction Syntax FLIP Function Request a change in the robot configuration during the next motion so that the pitch angle of the robot wrist has a negative value. Usage Considerations Configuration changes cannot be made during straight-line motions. If the selected robot does not support a flip configuration, this instruction is ignored by the robot. The FLIP instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task, however if the robot is not attached, this instruction has no effect. The instruction applies to the robot selected by the task.
If the eV+ system is not configured to control a robot, executing the FLIP instruction causes an error. Details Asserting a FLIP configuration forces the wrist joint to have a negative rotation (top robot in FLIP/NOFLIP). Asserting a NOFLIP configuration forces a wrist joint to have a positive rotation (bottom robot in FLIP/NOFLIP). Wrist joint angles are expressed as ±180°. NOTE: Robots can change configuration only during joint-interpolated moves. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 237