What is the definition of cfx in YuMi

Miladasgari98

Hello, 
I am working with the YuMi manipulator but It is not obvious when the cfx parameters chage in the robot studio. please give me the information

DenisFR

Hello,

YuMi is a 7 axis serial link robot.

Looking in RAPID Instruction, Functions and Data types (IRC5) help file at Data types - confdata:

7-axis serial link robots

All four configuration parameters are used. cf1, cf4, cf6 for joints 1, 4, and 6 respectively. cfx is used to select one of 8 possible robot configurations similar to how it works for other robots.

cfx

 Axis 2 angle

 Wrist center relative to lower arm

 Axis 5 angle

 

0

 Positive

 In front of

 Positive

 

1

 Positive

 In front of

 Negative

 

2

 Positive

 Behind

 Positive

 

3

 Positive

 Behind

 Negative

 

4

 Negative

 In front of

 Positive

 

5

 Negative

 In front of

 Negative

 

6

 Negative

 Behind

 Positive

 

7

 Negative

 Behind

 Negative

 

Miladasgari98

Thank you for your response, Actually now I do not understand what does it mean wrist center relative to the lower arm. what is the exact definition of lower arm, and the wrist center point in YuMi.

DenisFR

Hello,

In RS, you can teach Target. Then in right click on it, you have a Configurations menu.

You have a list of possible configurations for teached position with a joint values for each.

It seems that you have to represent arm like if axis 1 is on floor axis X oriented on top.

So "In Front Of" is that TCP is upper than axis 2 line, and "Behind" is that TCP is lower.

Miladasgari98

Thank you for your kind response.
And do you know what is the definition of lower arm in YuMi. I have tried to understand it but it was not possible for me.

DenisFR

I think it is axis 2, the nearest (lower) to axis 1...