SetConf#

This command sets the desired posture configuration to be observed in the MovePose and MoveLin* commands (see Section 2.2.1 and Section 2.2.2). When a desired posture configuration is set, a MovePose command will execute only if the final robot position can be in the desired posture configuration. In contrast, a MoveLin* command will execute only if the initial robot position already is in the desired posture configuration, and the final robot position is also in the desired posture configuration.

The posture configuration can be automatically selected, when executing a MovePose or MoveLin* command, by using the SetAutoConf command. Using SetConf automatically disables the automatic posture configuration selection.

Syntax#

SetConf(c_s,c_e,c_w)

Arguments#

c_s: shoulder configuration parameter, either −1 or 1.
c_e: elbow configuration parameter, either −1 or 1.
c_w: wrist configuration parameter, either −1 or 1.

Default Values#

Automatic posture configuration selection is enabled by default (see SetAutoConf); when the robot is activated or reactivated, there is no default desired posture configuration. The desired posture configuration must be specified using the SetConf command or the SetAutoConf(0) command. The latter sets the desired posture configuration to the one of the current robot posture.

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 SetConf command is represented by MotionCommandID 15. See Section 4.2 for more details.