Rapid command for wrist down

Einevik

Hello,

I have searched for a Rapid command for moving the robot in the wrist down configuration. Is there a command for this?

lemster68

No, you simply program your motions in the manner that you want.

DenisFR

Hello,

Look at the confdata values.

Technical reference manual RAPID Instructions, Functions and Data types

You have this data in your robtarget:

Components:

robconf

robot configuration

Data type: confdata

The axis configuration of the robot (cf1, cf4, cf6, and cfx). This is defined in the form of the current quarter revolution of axis 1, axis 4, and axis 6. The first positive quarter revolution 0 to 90° is defined as 0. The meaning of the component cfx is dependent on robot type.

For more information, see data type confdata.