Basic Characteristics RAPID

ConfL Monitors the configuration during linear movement
Examples
Arguments
ConfL (Configuration Linear) is used to specify whether or not the robot’s configuration
is to be monitored during linear or circular movement. If it is not monitored, the
configuration at execution time may differ from that at programmed time. It may also
result in unexpected sweeping robot movements when the mode is changed to joint
movement.
ConfL \On;
MoveL *, v1000, fine, tool1;
Program execution stops when the programmed configuration is not possible to
reach 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;
No error message is displayed when the programmed configuration is not the
same as the configuration achieved by program execution.
ConfL [\On] | [\Off]
\On Data type: switch
The robot configuration is monitored.
\Off Data type: switch
Program execution
The robot configuration is not monitored.
During linear or circular movement, the robot always moves to the programmed position
and orientation that has the closest possible axis configuration. If the argument \On
(or no argument) is chosen, then the robot checks that the programmed wrist axes con-
RAPID Reference Manual 8-ConfL-1