Hi!
This is kind of hard to describe but is it possible, without limitations, to rotate the 6th axis of an IRB1600 continuously and just reset the configuration after lets say 4 rotations, without it going back to 0 (4 rotations becomes the new 0). Why I’m asking is for example to enable a robot to screw in a product, release, and then go to the next product without having to rotate back to its original configuration. If anything wasn’t clear in what I said, feel free to ask!
Use the IndReset command which is part of option 610-1 Independent axes.