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The robot’s axis configurations are denoted by a series of four integers, specifying in which
quadrant of a full revolution significant axes are located. The quadrants are numbered from
zero for positive (counterclockwise) rotation and from -1 for negative (clockwise) rotation.
For a linear axis, the integer specifies the range (in meters) from the neutral position in which
the axis is located.
A configuration for a six-axis industrial robot (like IRB 140) may look like:
[0 -1 2 1]
The first integer (0) specifies the position of axis 1: somewhere in the first positive quadrant
(between 0 and 90 degrees rotation).
The second integer (-1) specifies the position of axis 4: somewhere in the first negative
quadrant (between 0 and -90 degrees rotation).
The third integer (2) specifies the position of axis 6: somewhere in the third positive quadrant
(between 180 and 270 degrees rotation).
The fourth integer (1) specifies the position of axis x, a virtual axis used for specifying the
wrist center in relation to other axes.
Configuration monitoring
When executing a robot program, you can choose whether to monitor configuration values.
If configuration monitoring is turned off, configuration values stored with the targets are
ignored, and the robot will use the configuration closest its current configuration for reaching
the target. If turned on, it will only use the specified configuration for reaching the targets.
Configuration monitoring can be turned off and on for joint and linear movements
independently and is controlled by the ConfJ and ConfL action instructions.
Turning configuration monitoring off
Running a program without configuration monitoring may result in different configurations
each time a cycle is executed: When the robot returns to the start position after completing a
cycle, it may choose a different configuration then the original.
For programs with linear move instructions this might cause a situation where the robot gets
closer and closer its joint limits and eventually will not be able to reach the target.
For programs with joint move instructions this might cause sweeping, unpredictable
movements.
Turning configuration monitoring on
Running a program with configuration monitoring forces the robot to use the configurations
stored with the targets. This results in predictable cycles and predictable motions. In some
situations, however, like when the robot moves to a target from an unknown position, using
configuration monitoring may limit the robot’s reachability.
When programming offline, you must assign a configuration to each target if the program
shall be executed with configuration monitoring.