How does Robotstudio prioritize Robot axis configurations?

jstoquica

Hi everyone,

I modeled the IRB140 kinematics, but it is natural to have different robot axis configuration in relation with elbow up/down. In Robotstudio, robot axis configurations are denoted by CFG config file (confdata), where 4 integer digits are available to inform the current quadrant of axis. In the case of IRB140 the example configuration [0 -1 0 0] indicates the current quadrant of axis1, axis4, axis6 and current robot configuration respectively (http://developercenter.robotstudio.com/BlobProxy/manuals/RapidIFDTechRefManual/doc498.html).

My IRB140 produces one configuration for now, and final Theta angles ever match with some Robotstudio robot axis configuration (i change manually for looking for the match one), but in some moments are not the same configuration.

How does Robotstudio prioritize Robot axis configurations? Is it possible to achieve ever the same robot axis configuration for targets?

Regards.