SOLVE.ANGLES program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 484 Bit Flag Description Bit 9: Change RIGHTY/LEFTY (mask value = ^H100) If this bit is set, the instruction attempts to compute a set of joint positions corresponding to the RIGHTY/LEFTY configuration specified by bit 10. Bit 10: Change to RIGHTY (mask value = ^H200) When bit 9 is set and this bit is set, the instruction attempts to compute joint positions for a right-arm configuration. If bit 9 is set and this bit is 0, the instruction attempts to compute a set of joint positions for a left-arm configuration. Bit 11:
Change BELOW/ABOVE (mask value = ^H400) If this bit is set, the instruction attempts to compute a set of joint positions corresponding to the BELOW/ABOVE configuration specified by bit 12. This bit is ignored for robots, like the SCARA configurations, that do not have an elbow that moves in a vertical plane. Bit 12: Change to BELOW (mask value = ^H800) When bit 11 is set and this bit is set, the instruction attempts to compute joint positions for an elbow-down configuration. If bit 11 is set and this bit is 0, the instruction attempts to compute joint positions for an elbow-up configuration.
This bit is ignored for robots, like the SCARA configurations, that do not have an elbow that moves in a vertical plane. Bit 13: Change FLIP/NOFLIP (mask value = ^H1000) If this bit is set, the instruction attempts to compute a set of joint positions corresponding to the FLIP/NOFLIP configuration specified by bit 14. This bit is ignored if the robot does not have a three-axis