Basic Characteristics RAPID

error, it may often be caused by one or more of the following reasons:
- The position is programmed off-line with a faulty configuration.
- The robot tool has been changed causing the robot to take another configuration
than was programmed.
- The position is subject to an active frame operation (displacement, user, object,
base).
The correct configuration in the destination position can be found by positioning the
robot near it and reading the configuration on the teach pendant.
If the configuration parameters change because of active frame operation, the
configuration check can be deactivated.
4.1 Robot configuration data for 6400C
The IRB 6400C is slightly different in its way of unambiguously denoting one robot
configuration. The difference is the interpretation of the confdata cf1.
cf1 is used to select one of two possible main axes (axis 1, 2 and 3) configurations:
- cf1 = 0 is the forward configuration
- cf1 = 1 is the backward configuration.
Figure 35 shows an example of a forward configuration and a backward configuration
giving the same position and orientation.
FORWARD,
cf1 = 0
BACKWARD,
cf1 = 1.
Figure 35 Same position and orientation with two different main axes configuration.
The forward configuration is the front part of the robot’s working space with the arm
directed forward. The backward configuration is the service part for the working space
with the arm directed backwards.
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