I am coding post-processor for KUKA KR 3. Now i am stuck at S(status) value in POS position. S value is formed with 3 bits (bit 2, bit 1, bit 0).

According to expert programming manual:

"The basic/overhead areas can be visualized in Cartesian terms. To do this, the following

terms are defined:

Wrist root point: Intersection of the wrist axes

A1 coordinate system: If axis 1 is at 0_, it is identical to the $ROBROOT coordinate

system. For values not equal to 0_, it moves with axis 1.

The basic/overhead areas can thus be defined as follows:

-If the x--value of the wrist root point, expressed in the A1 coordinate system, is positive,

the robot is in the basic area.

-If the x--value of the wrist root point, expressed in the A1 coordinate system, is negative,

the robot is in the overhead area."

But how can i find value of that wrist root point?