RAPID reference manual - Technology

ConfJRobotWare-OSInstructionProgram executionIf the argument \On (or no argument) is chosen, the robot always moves to the programmedaxis configuration. If this is not possible using the programmed position andorientation, program execution stops before the movement starts.If the argument \Off is chosen, the robot always moves to the closest axis configuration.This may be different to the programmed one if the configuration has been incorrectlyspecified manually, or if a program displacement has been carried out.The control is active by default. This is automatically set- at a cold start-up- when a new program is loaded- when starting program executing from the beginning.SyntaxConfJ[ ’\’ On] | [ ’\’ Off] ’;’Related informationDescribed in:Handling different configurationsRobot configuration during linearmovementMotion Principles - Robot ConfigurationInstructions - ConfL54 RAPID reference manual - part 1a, Instructions A-R