SetAutoConf#
This command enables or disables the automatic posture configuration selection, to be
observed in the MovePose and MoveLin* commands. This automatic
selection, in conjunction with the turn configuration selection (see
Section 1.2.1 and Section 1.2.2), allows the controller to
choose the “closest” joint set corresponding to the target pose.
In the case of MoveLin* commands, enabling the automatic posture
configuration selection allows the change of configuration, but only if the path
happens to pass exactly through a wrist or shoulder singularity.
Syntax#
SetAutoConf(e)
Arguments#
e: enable (1) or disable (0) automatic posture configuration selection.
Default values#
The automatic posture configuration selection is enabled by default. If you disable
it, the new desired posture configuration will be the one corresponding to the current
robot position, i.e., the one after all preceding motion commands have been completed.
Note, however, that if you disable the automatic posture configuration selection in a
singular robot posture, the controller will automatically choose one of the boundary
configurations. For example, if you execute SetAutoConf(0) while the robot
is at the joint set {0,0,0,0,0,0}, the new desired configuration will be {1,1,1}.
Finally, the automatic robot configuration selection is also disabled as soon as the
robot receives the command SetConf.
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.]
[1006][The robot is not homed.]
[1011][The robot is already in error.]
Cyclic protocols#
In cyclic protocols, the SetAutoConf command is represented by
MotionCommandID 16. See Section 3.2 for more details.