SetAutoConfTurn

This command enables/disables the automatic turn selection for the last joint of the robot (see Section 2.2.1 and Section 2.2.2). It affects the MovePose command and all MoveLin* commands. When the automatic turn selection is enabled, and a MovePose command is executed, the last joint will always take the shortest path, and rotate no more than 180°. In the case of a MoveLin* command, however, enabling the automatic turn selection simply allows the change of turn configuration along the linear move.

Syntax

SetAutoConfTurn(e)

Arguments

• e: automatic turn configuration selection enabled (1) or disabled (0).

Default values

The default settings are applied whenever the robot is activated or reactivated.

SetAutoConfTurn is enabled by default. If you disable the automatic turn selection, the new desired turn configuration will be the one corresponding to the current robot position, i.e., the one after all preceding motion commands have been completed. Finally, the automatic turn configuration selection is also disabled as soon as the robot receives the command SetConfTurn.

Usage restrictions

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

• [1005][The robot is not activated.]

• [1011][The robot is already in error.]

Cyclic protocols

In cyclic protocols, the SetAutoConfTurn command is represented by MotionCommandID 26. See Section 4.2 for more details.