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?