Determining S and T values

Hey, I have been developing software for simulating robots. I have an Inverse Kinematic solver, and I usually set a starting FK pose for the first position then all the LIN moves are base on that pose.

One of the customers I am working with wants the first position to be a PTP move to a E6POS with S and T values instead of a PTP move to a E6AXIS pose.

I haven't found good documentation for status and turn. I am assuming I could take my FK pose and determine these values if I knew the logic.

Is there a document that describes what the binary values for S and T represent? I know I have seen it before, but I can't figure out where it was.

Thanks Hes ! That helps a ton. This doesn't look to difficult at all.

Thanks SkyeFire, this helps too. As I was working out the details in my planner, some things seemed wrong or overlooked in the documentation.