ABB E5EAA HENF105240R1 DCS系统卡
如果启用，它将仅使用指定的配置来达到目标。配置监控可单独关闭和打开关节和线性运动，并由ConfJ和ConfL动作指令控制。关闭配置监控每次执行一个循环时，在没有配置监控的情况下运行程序可能会导致不同的配置：当机器人在完成一个循环后返回到开始位置时，它可能会选择与原始配置不同的配置。对于具有线性移动指令的程序，这可能会导致机器人越来越接近其关节极限，最终无法到达目标。对于具有联合移动指令的程序，这可能会导致不可预测的大范围移动。启用配置监视通过配置监视运行程序强制机器人使用与目标一起存储的配置。这导致可预测的周期和可预测的运动。然而，在某些情况下，例如当机器人从未知位置移动到目标时，使用配置监控可能会限制机器人的可达性
If turned on, it will only use the specified configuration for reaching the targets.
Configuration monitoring can be turned off and on for joint and linear movements
independently and is controlled by the ConfJ and ConfL action instructions.
Turning configuration monitoring off
Running a program without configuration monitoring may result in different configurations
each time a cycle is executed: When the robot returns to the start position after completing a
cycle, it may choose a different configuration then the original.
For programs with linear move instructions this might cause a situation where the robot gets
closer and closer its joint limits and eventually will not be able to reach the target.
For programs with joint move instructions this might cause sweeping, unpredictable
movements.
Turning configuration monitoring on
Running a program with configuration monitoring forces the robot to use the configurations
stored with the targets. This results in predictable cycles and predictable motions. In some
situations, however, like when the robot moves to a target from an unknown position, using
configuration monitoring may limit the robot’s reachability
