SetConfTurn#

This command sets the desired turn configuration for the last joint, ct, to be observed in the MovePose and MoveLin* commands (see Section 2.2.1 and Section 2.2.2). When ct is set, a MovePose command is executed only if the final robot position can be in the desired turn configuration. In contrast, when a ct is set, a MoveLin* command will execute only if the final robot position can be — and the initial robot position already is — in the desired turn configuration.

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

Syntax#

SetConfTurn(ct)

Arguments#

  • ct: turn configuration, an integer between −100 and 100.

The turn configuration parameter defines the desired range for joint 6, according to the following inequality: −180° + ct360° < θ6 ≤ 180° + ct360°.

Default values#

Automatic turn configuration selection is enabled by default (see SetAutoConfTurn); when the robot is activated or reactivated, there is no default desired turn configuration. The only way to set a desired turn configuration is to specify it with the command SetConfTurn or to execute the command SetAutoConfTurn(0). The latter sets the desired turn configuration to the one corresponding to the current position of the last joint.

Further details#

This command is primarily intended for robots with external end-effector cabling. In such cases, use the SetJointLimits command to limit the range of the last joint appropriately. However, because the cable routing differs when the last joint is at 5° versus 365°, it is important to specify the preferred turn for a given pose. This is achieved using the SetConfTurn command with the appropriate turn configuration argument.

If using a cable-less end-effector, then the automatic turn configuration should never be disabled. However, remember to always bring joint 6 within the ±420° range before powering the robot off (recall Section 2.3.1).

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 SetConfTurn command is represented by MotionCommandID 25. See Section 4.2 for more details.