# problems with reltool...

**URL:** <https://tech-community.robotics.abb.com/t/problems-with-reltool/1014>\
**Category:** Robot Controller\
**Created:** [February 11, 2007, 9:57pm UTC](https://tech-community.robotics.abb.com/t/problems-with-reltool/1014 "2007-02-11T21:57:54Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![filterheadz](https://avatars.discourse-cdn.com/v4/letter/f/e56c9b/32.png) [@filterheadz](https://tech-community.robotics.abb.com/u/filterheadz)\
**Post date:** [February 11, 2007, 9:57pm UTC](https://tech-community.robotics.abb.com/t/problems-with-reltool/1014/1 "2007-02-11T21:57:54Z")

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hi people.

I made the following program…

MODULE TESTE  
VAR robtarget p10;  
VAR num AngleZ;

PROC main()  
p10:=[[863.28,-0.43,1370.4],[0.048771,0.000397,0.99881,-0.000257],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];  
MoveJ p10,v500,z50,tool0;  
anglez:=0;  
Begin:  
waittime 0.5;  
AngleZ:=angleZ+10;  
MoveJ RelTool(p10,0,0,0Rz:=AngleZ),v500,z50,tool0;  
GOTO Begin;  
ENDPROC

however, when angleZ is greater of 120? i have got a following error

The desired position cannot be reached with the given robot configuration.

How can i resolve my problem to make a rotation of 360 without change the position of the robot in the program?

Sorry about my english…

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**Author:** ![PerSvensson](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/persvensson/32/1040_2.png) [@PerSvensson](https://tech-community.robotics.abb.com/u/PerSvensson)\
**Post date:** [February 12, 2007, 8:04am UTC](https://tech-community.robotics.abb.com/t/problems-with-reltool/1014/2 "2007-02-12T08:04:25Z")

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Hi  
Turn off Configuration check  
ConfJ /Off

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<div class="post-metadata">

**Author:** ![filterheadz](https://avatars.discourse-cdn.com/v4/letter/f/e56c9b/32.png) [@filterheadz](https://tech-community.robotics.abb.com/u/filterheadz)\
**Post date:** [February 12, 2007, 8:56pm UTC](https://tech-community.robotics.abb.com/t/problems-with-reltool/1014/3 "2007-02-12T20:56:00Z")

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Thanks PerSvensson…

:stuck\_out\_tongue\_winking\_eye:

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**Author:** ![vanicelio](https://avatars.discourse-cdn.com/v4/letter/v/f6c823/32.png) [@vanicelio](https://tech-community.robotics.abb.com/u/vanicelio)\
**Post date:** [February 12, 2007, 8:58pm UTC](https://tech-community.robotics.abb.com/t/problems-with-reltool/1014/4 "2007-02-12T20:58:00Z")

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companheiros estou precisando gera minha licen?a da minha abb serial 60123 aguardo respostas ok

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<div class="post-metadata">

**Author:** ![PerSvensson](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/persvensson/32/1040_2.png) [@PerSvensson](https://tech-community.robotics.abb.com/u/PerSvensson)\
**Post date:** [February 13, 2007, 9:37am UTC](https://tech-community.robotics.abb.com/t/problems-with-reltool/1014/5 "2007-02-13T09:37:28Z")

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Your welcome  
Be aware of that if you turn of configuration the robot always take the closest way (axis 1,4,6,) and in some cases you may not want that to happen. So be carefull when you run with configuration off.

Take a look in the manuals around configuration, good to know how this works and if you are working in RobotStudio it’s even more important at least if you are creating target out of a geometry.

But of course in RobotStudio you can play around without messing up the real hardware :smile:.