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    • What is the definition of cfx in YuMi

    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 ✭✭✭
      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
       


      ☑️2024 - RobotStudio® User Group

    • Miladasgari98
      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
      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.

      ☑️2024 - RobotStudio® User Group

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

      ☑️2024 - RobotStudio® User Group

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