RAPID reference manual - Technology

InstructionConfJRobotWare-OSConfJ - Controls the configuration during joint movementConfJ (Configuration Joint) is used to specify whether or not the robot’s configurationis to be controlled during joint movement. If it is not controlled, the robot can sometimesuse a different configuration than that which was programmed.With ConfJ\Off, the robot cannot switch main axes configuration - it will search for asolution with the same main axes configuration as the current one. It moves to the closestwrist configuration for axes 4 and 6.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesConfJ \Off;MoveJ *, v1000, fine, tool1;The robot moves to the programmed position and orientation. If this position canbe reached in several different ways, with different axis configurations, the closestpossible position is chosen.ConfJ \On;MoveJ *, v1000, fine, tool1;The robot moves to the programmed position, orientation and axis configuration.If this is not possible, program execution stops.ArgumentsConfJ[\On] | [\Off][ \On ] Data type: switchThe robot always moves to the programmed axis configuration. If this is not possibleusing the programmed position and orientation, program execution stops.The IRB5400 robot will move to the pogrammed axis configuration or to an axisconfiguration close the the programmed one. Program execution will not stop ifit is impossible to reach the programmed axis configuration.[ \Off ] Data type: switchThe robot always moves to the closest axis configuration.RAPID reference manual - part 1a, Instructions A-R 53