Basic Characteristics RAPID

Usually you want the robot to attain the same configuration during program execution as
the one you programmed. To do this, you can make the robot check the configuration
and, if the correct configuration is not attained, program execution will stop. If the
configuration is not checked, the robot may unexpectedly start to move its arms and
wrists which, in turn, may cause it to collide with peripheral equipment.
The robot configuration is specified by defining the appropriate quarter revolutions of
axes 1, 4 and 6. If both the robot and the programmed position have the same quarter
revolution for these axes, the robot configuration is correct.
1
2 3
Figure 33 Quarter revolution for a positive joint angle: int⎛ angle
joint – ------------- ⎞ .
⎝ π ⁄ 2 ⎠
-3
Figure 34 Quarter revolution for a negative joint angle: int⎛ angle
joint – -------------- – 1⎞
.
⎝ π ⁄ 2 ⎠
The configuration check involves comparing the configuration of the programmed
position with that of the robot.
During linear movement, the robot always moves to the closest possible configuration.
If, however, the configuration check is active, program execution stops as soon as any
one of the axes deviates more than the specified number of degrees.
During axis-by-axis or modified linear movement using a configuration check, the
robot always moves to the programmed axis configuration. If the programmed position
and orientation are not achieved, program execution stops before starting the
movement. If the configuration check is not active, the robot moves to the specified
position and orientation with the closest configuration.
When the execution of a programmed position is stopped because of a configuration
RAPID Reference Manual 6-33
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