Troubles with Arm Configurations

Mjsh635

I'm using an IRB 120 robot and I'm trying to reorient my Tool, however I'm getting an error that the position is not reachable. This is occuring because the robot does not want to change arm configurations from J5 up (in reference to J4) and J5 down (In reference to J4). Im looking to have the robot move X Degrees in Y, however when i enter a number that would make the need to flip configurations it attempts to rotate J4 entirely around. Is there any way to get around this?

lemster68

Have you used ConfJ\Off or is it in the program somewhere?  Other wise, MoveAbsJ.  Btw, NUT/Fut are Fanuc 

lemster68

It won't flip the wrist in a linear move, none of them will.  Use MoveJ or MoveAbsJ.

Mjsh635

lemster68 said:

It won't flip the wrist in a linear move, none of them will.  Use MoveJ or MoveAbsJ.

i'm not moving linear, i'm moving Joint, however it doesnt seem to want to flip the write nut to fut