# Tool windup \[PickMaster 3\] **URL:** \ **Category:** PickMaster\ **Created:** [July 15, 2011, 9:58pm UTC](https://tech-community.robotics.abb.com/t/tool-windup-pickmaster-3/4308 "2011-07-15T21:58:06Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![Craig\_Hafner](https://avatars.discourse-cdn.com/v4/letter/c/ea666f/32.png) [@Craig\_Hafner](https://tech-community.robotics.abb.com/u/Craig_Hafner)\ **Post date:** [July 15, 2011, 9:58pm UTC](https://tech-community.robotics.abb.com/t/tool-windup-pickmaster-3/4308/1 "2011-07-15T21:58:06Z")
I have used the SetToolRot procedures succesfully in the past (S4C and IRC5), but recently experienced a problem at a customer site with a slightly modified implementation (non-Pickmaster). In the past, I remember that a mis-calculated configuration value would result in an error. For example, using a configuration of 2 with an angle of 10 degrees which should have configuration 0, 4, 8 etc. would give an error. It appears now that there is no error even if the configuration does not make sense given the angle. Has there been a change in the robot in the way configuration is handled on an IRB360, or is my memory faulty? How does the robot respond if the configuration value is not in a quadrant adjacent to the actual target angle? I think I may have a sign error in my equation which causes the wrong configuration to be used when the angle is very near the boundary of a quadrant. Thanks for your help. ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [July 17, 2011, 10:23pm UTC](https://tech-community.robotics.abb.com/t/tool-windup-pickmaster-3/4308/2 "2011-07-17T22:23:00Z")
Hi Craig, As far as I am aware the controller will still give you a config error. Is there a ConfL/off or ConfJ/off some where in the program? If so the controller will not check the axis configuration. Regards Graeme ---
**Author:** ![Craig\_Hafner](https://avatars.discourse-cdn.com/v4/letter/c/ea666f/32.png) [@Craig\_Hafner](https://tech-community.robotics.abb.com/u/Craig_Hafner)\ **Post date:** [July 18, 2011, 2:38am UTC](https://tech-community.robotics.abb.com/t/tool-windup-pickmaster-3/4308/3 "2011-07-18T02:38:48Z")
Conflon is definitely set. I can force the tool to make extra rotations by setting the configuration value to a high number. I confirmed my field observations with a simple test on our demo robot by commanding the robot to a simple robtarget and varying the configuration value manually through the teach pendant. ---
**Author:** ![Mats\_W](https://avatars.discourse-cdn.com/v4/letter/m/df705f/32.png) [@Mats\_W](https://tech-community.robotics.abb.com/u/Mats_W)\ **Post date:** [August 24, 2011, 4:10pm UTC](https://tech-community.robotics.abb.com/t/tool-windup-pickmaster-3/4308/4 "2011-08-24T16:10:58Z")
I suppose you used a fairly new version of RW for your test? /M ---
**Author:** ![labu](https://avatars.discourse-cdn.com/v4/letter/l/a8b319/32.png) [@labu](https://tech-community.robotics.abb.com/u/labu)\ **Post date:** [August 29, 2011, 7:19pm UTC](https://tech-community.robotics.abb.com/t/tool-windup-pickmaster-3/4308/5 "2011-08-29T19:19:22Z")
Hi, This is an interesting point and we have also experienced it. It seems that there are some side effects in using SingArea /Wrist on Delta robots. Although it does not really makes sense to have this instruction, it is needed if you are looking for a more than 90A? rotation between 2 tracking points as otherwise MoveL won’t let you do this rotation. We have seen that there are some side effects in this case since RW5.12 (as i remember), some of them improved with 5.14. I guess it is under evaluation at ABB as we have raised the question since then. Keep in touch. ---
**Author:** ![Craig\_Hafner](https://avatars.discourse-cdn.com/v4/letter/c/ea666f/32.png) [@Craig\_Hafner](https://tech-community.robotics.abb.com/u/Craig_Hafner)\ **Post date:** [August 29, 2011, 7:25pm UTC](https://tech-community.robotics.abb.com/t/tool-windup-pickmaster-3/4308/6 "2011-08-29T19:25:15Z")
My testing was done on systems which used 5.11 and 5.13. I have not tested the behavior on systems with 5.14 or newer baseware.