RAPID reference manual - Technology

InstructionConfLRobotWare-OSConfL - Monitors the configuration during linear movementConfL (Configuration Linear) is used to specify whether or not the robot’s configurationis to be monitored during linear or circular movement. If it is not monitored, theconfiguration at execution time may differ from that at programmed time. It may alsoresult in unexpected sweeping robot movements when the mode is changed to jointmovement.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.NOTE: For the IRB 5400 robot the monotoring is always off independent of whatis specified in ConfL.ExamplesConfL \On;MoveL *, v1000, fine, tool1;Program execution stops when the programmed configuration is not possible toreach from the current position.SingArea \Wrist;ConfL \On;MoveL *, v1000, fine, tool1;The robot moves to the programmed position, orientation and wrist axis configuration.If this is not possible, program execution stops.ConfL \Off;MoveL *, v1000, fine, tool1;The robot moves to the programmed position and orientation, but to the closestpossible axis configuration, which can be different from the programmed.ArgumentsConfL[\On] | [\Off][ \On ] Data type: switchThe robot configuration is monitored.[ \Off ] Data type: switchThe robot configuration is not monitored.RAPID reference manual - part 1a, Instructions A-R 55