ABB card 3BSE024388R4 PFXA401SF CPU Digital output board

Description

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To distinguish between the different configurations, all targets have a configuration value that
specifies the quadrant in which each axis shall be located.
Storing axis configurations in targets
For targets that are taught after jogging the robot to the position, the used configuration will
be stored in the target.
Targets created by specifying or calculating positions and orientations get a default
configuration value (0,0,0,0), which might not be valid for reaching the target.
Common problems related to robot axis configurations
It is most likely that targets created by other ways than jogging cannot be reached at their
default configuration.
Even if all targets in a path have validated configurations, you might encounter problems
when running the path if the robot cannot move from one configuration to the other. This is
likely to occur where an axis shifts greater than 90 degrees during linear movements.
Repositioned targets keep their configuration, but the configurations are no longer validated.
As a result, the problems described above might occur when moving targets.
Common solutions for configuration problems
To resolve the problems described above, you can assign a valid configuration to each target
and verify that the robot can move along each path. You can also turn configuration
monitoring off, which means that you ignore the stored configurations and let the robot find
working configurations at runtime. If this is not done the proper way, you might get
unexpected results.
In some cases there might not be any working configurations. Possible solutions might then
be to reposition the work piece, reorient targets (if acceptable for the process) or add an
external axis that either moves the work piece or the robot for increasing reachability