Calculating joint angles in advance

Hello!

Is it possible to ask a Kawasaki robot what the resulting joint angles will be, before I tell the robot to move to some specified coordinates? I.e. if I want to move the robot to (x,y,z,o,a,t) = (1000,134,700,0,0,90), is there then a way to ask the robot what the corresponding joint angles will be, before I tell the robot to move? I am working with an e-series controller.

I have read about the #DEST command, but it does not do exactly what I want ...

Thanks in advance!

We found the solution today - it can be done usint the POINT command:

POINT pose variable name 1 ＝pose variable name 2, joint displacement values