# How to calculate the configuration?

**URL:** <https://tech-community.robotics.abb.com/t/how-to-calculate-the-configuration/7640>\
**Category:** Developer Tools\
**Tags:** configurations, rapid, robtarget\
**Created:** [March 23, 2017, 3:31am UTC](https://tech-community.robotics.abb.com/t/how-to-calculate-the-configuration/7640 "2017-03-23T03:31:04Z")\
**Posts on this page:** 3\
**Page:** 1

<div class="post-metadata">

**Author:** ![Hirota](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/hirota/32/4394_2.png) [@Hirota](https://tech-community.robotics.abb.com/u/Hirota)\
**Post date:** [March 23, 2017, 3:31am UTC](https://tech-community.robotics.abb.com/t/how-to-calculate-the-configuration/7640/1 "2017-03-23T03:31:04Z")

</div>

Dear all  
in my case, I have to edit my rapid program. I can calculate the coordinate and the quaternion by my own way but I don’t know how to generate the robot configuration by those data, is that possible to calculate the robot configuration in some ways?

---

<div class="post-metadata">

**Author:** ![Gary](https://avatars.discourse-cdn.com/v4/letter/g/839c29/32.png) [@Gary](https://tech-community.robotics.abb.com/u/Gary)\
**Post date:** [June 8, 2017, 8:49am UTC](https://tech-community.robotics.abb.com/t/how-to-calculate-the-configuration/7640/2 "2017-06-08T08:49:43Z")

</div>

VAR robtarget pTemp;  
VAR num cf1;  
var num cf4;  
var num cf6;  
var num cfx;

cf1:=ptemp.robconf.cf1;  
cf4:=ptemp.robconf.cf4;  
cf6:=ptemp.robconf.cf6;  
cfx:=ptemp.robconf.cfx;

you don’ need to generate the robot configuration. you can reference the data type in manual-book

---

<div class="post-metadata">

**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [June 8, 2017, 8:29pm UTC](https://tech-community.robotics.abb.com/t/how-to-calculate-the-configuration/7640/3 "2017-06-08T20:29:10Z")

</div>

If you are not concerned with the robot being in a certain configuration you can use the confl\off or confj\off commands to stop the robots configuration being controlled (the configuration in the move command is ignored).

Note the following from the RAPID manual:

_With ConfJ \Off , the robot cannot switch main axis configuration - it will search for a solution with the same main axis configuration as the current one, but it moves to the closest wrist configuration for axes 4 and 6._