SetAutoConf#

This command enables or disables automatic posture configuration selection, as used by the MovePose and MoveLin* commands. This automatic selection, in conjunction with the turn configuration selection (see Section 2.2.1 and Section 2.2.2), allows the controller to choose the “closest” joint set corresponding to the target pose.

For MoveLin* commands, enabling automatic posture configuration selection allows a change of configuration during the movement. This is only possible if the path passes exactly through a wrist or shoulder singularity.

Warning

Automatic posture configuration should only be used when it is safe for the robot to reach the target position using any valid posture configuration. In many applications, it is safer to explicitly select a posture configuration to ensure that the robot always moves to the target position in a predictable manner.

When automatic selection is enabled, the controller may choose a different configuration than expected due to small changes in the source or target position, or as a result of improvements to the configuration selection algorithm in newer firmware versions. This can lead to significantly different robot motions and may result in unexpected behavior, such as collisions with the surrounding environment.

Note

The Meca500 chooses the “closest” joint set by minimizing the largest joint displacement. Consequently, this closest joint set is not necessarily the fastest to reach, as joint velocity limits may differ between axes. If motion time is critical, you should test and compare all possible configurations and explicitly select the one that yields the shortest motion time.

Syntax#

SetAutoConf(e)

Arguments#

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

Default values#

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

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 4.2 for more details.