Hi,I am not familiar with ABBs but according to their rapid language description CONFL/J is configuration monitoring. This is done in KRL by means of $CP_STATMON = #NONE or #CHECK_S or #CHECK_TS. CHECK_S only checks Status, #CHECK_TS checks status and turn. Checks are only done for CP movements. Controlling the Status/Turn for PTP motions is done by means of setting the desired Status and Turn bits of your E6POS target position (X,Y,Z,A,B,C,S,T,E1,...,E6).
If needed you will find many threads on status and turn using the forum search, see e.g.
Fubini
Hi;
Tks for your answer....
If I made a download of a traj. without the variables S and T, Can I use the command CHECK_TS=OFF to run the traj and after when the robots arrive in this point, I record the point with your configuration?
Tks a lot;
Adriano.