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What is the definition of cfx in YuMi

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Miladasgari98
Miladasgari98 ✭
in Collaborative Robots
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
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  • DenisFR
    DenisFR ✭✭✭
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    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
    Miladasgari98 ✭
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    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
    DenisFR ✭✭✭
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    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
    Miladasgari98 ✭
    Options
    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
    DenisFR ✭✭✭
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    I think it is axis 2, the nearest (lower) to axis 1...

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