Basic Characteristics RAPID

ConfJ Controls the configuration during joint movement
Examples
Arguments
ConfJ (Configuration Joint) is used to specify whether or not the robot’s configuration
is to be controlled during joint movement. If it is not controlled, the robot can sometimes
use a different configuration than that which was programmed.
With ConfJ\Off, the robot cannot switch main axes configuration - it will search for a
solution with the same main axes configuration as the current one. It moves to the closest
wrist configuration for axes 4 and 6.
ConfJ \Off;
MoveJ *, v1000, fine, tool1;
The robot moves to the programmed position and orientation. If this position can
be reached in several different ways, with different axis configurations, the closest
possible 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.
ConfJ [\On] | [\Off]
\On Data type: switch
The robot always moves to the programmed axis configuration. If this is not possible
using the programmed position and orientation, program execution stops.
\Off Data type: switch
Program execution
The robot always moves to the closest axis configuration.
If the argument \On (or no argument) is chosen, the robot always moves to the programmed
axis configuration. If this is not possible using the programmed position and
orientation, 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 incorrectly
RAPID Reference Manual 8-ConfJ-1