SOLVE.ANGLES program instruction location for the robot. These values are referenced: (1) for multiple-turn joints to minimize joint rotations, and (2) when a computed joint position is out of range to determine which limit stop to return. The first specified element of the array must contain the position for joint #1. The second element must contain the value for joint #2, etc. For rotating joints, the joint positions are assumed to be in degrees. For translational joints, the joint positions are assumed to be in millimeters. i.idx Optional real value, variable, or expression (interpreted as an integer) that identifies the array element that contains the position value for joint #1.
If no index is specified, element zero must contain the position for joint #1. i.flags Real value, variable, or expression whose value is interpreted as bit flags that indicate: (1) the initial configuration of the robot, (2) any changes in configuration that are to be made, and (3) special operating modes. The bit flags are interpreted as follows: eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 483 Bit Flag Description Bit 1: (LSB) RIGHTY (mask value = 1) If this bit is set, the robot is assumed initially to be in a right-arm configuration. Otherwise, the robot is assumed to be in a left-arm configuration. Bit 2:
BELOW (mask value = ^H2) If this bit is set, the robot is assumed initially to have its elbow below the line from the shoulder to the wrist. Otherwise, the robot is assumed to have its elbow above that line. (This bit is ignored for robots, like the SCARA configurations, that do not have an elbow that moves in a vertical plane.) Bit 3: FLIP (mask value = ^H4) If this bit is set, the robot is assumed initially to have the pitch axis of the wrist set to a negative value. Otherwise, the pitch angle is assumed to be set to a positive value. This bit is ignored if the robot does not have a three-axis wrist.